STABILITY (control system)

BY-VAIBHAV JINDAL
Physical Meaning of Stability
Introduction
Stability of any system is a very important characteristic of
any system .
In Control System STABILITY cab be judged by observing the
time response curve. (Which is basically depends on
location of poles)
Generally for a stable system oscillations must die out as
early as possible or steady state should be reached fast. (in
time response curve)
Time Response Curve
 S-Plane and Time Response Curve

0<ζ<1 Under Damped System

ζ =0 Undamped System
ζ=1 Critical Damped
ζ>1 Over Damped System
Stability
Bounded Input, Bounded Output: Output must be bounded for
bounded input.
Asymptotic Stability: If system input is remove from the system, then
output of system is reduced to zero.
absolute Stability: A system is stable for all values of system
parameters for bounded output. (Define in terms of location of poles)
[Routh Hurwitz, Rout locus & Nyquist Plot]
Relative Stability: This is a quantitative measure of how fast system
oscillation die out with time and how fast steady state reached. (Define
in term of Damping Ratio, Gain Margin and Phase Margin)
System having poles away from the imaginary axis of S-Plane, in
negative direction, has higher stability.
[Bode Plot & Nyquist Plot]
Conclusion I
1. For a stable system, all roots of characteristic equation (Poles of the
system) must lie in negative half of s plane.
2. If roots lie on imaginary axis, system is called marginally stable or
limitedly stable.
3. If roots lie on the positive half side of s-plane, system if un-stable.
4. If there are repeated poles or roots on imaginary axis, then also
system is un-stable.
5. If poles moves away from imaginary axis towards the left of s-plane
the relative stability of system is improves.
Im
Stable Un-Stable
Re
 𝐶(𝑠)
System T(s)=
𝑅(𝑠)

At least one of the At least some of the system poles All the system poles
system pole is in are on the imaginary axis, the rest are inside the left
right half of s-plane being in left half of s-plane half of the s-plane
UNSTABLE ASYMPTOTICALLY
STABLE
At least some of the All poles on imaginary axis are
system poles are repeated simple and none of these
on the imaginary axis. poles are present in input R(s)
UNSTABLE NON-ASYMPTOTICALLY STABLE
MARGINALLY STABLE
At least one of the system poles on the imaginary
axis is present in the form of a pole in R(s)
SYSTEM EXHIBITS INSTABILITY DUE TO RESONANCE
Routh Hurwitz Stability
For a stable system all elements of first column in Routh table should have same
sign(either “+” or “-”).
“If Characteristics Equation contain only even power of S “ or “elements of any odd
complete row of Routh table is zero” represents system will contain at least one pair
of poles on imaginary axis (System has undamped natural frequency), system is
marginally stable.

Note: Routh is only applicable for closed loop system and for implementation of
Routh table coefficient of characteristics equation. Should real
Bode Plot
Bode plot is draw on Semi-log graph for
open and closed loop system both.

Gain Margin= -[20 log|G(jω𝑝 ).H(jω𝑝 )|]

Phase Margin=180+ ∠ G(jω𝑔 ).H(jω𝑔 )
ω𝑔 = Gain Cross over frequency
ω𝑝 = Phase Cross over frequency

Gain Margin Phase Margin Stability

ω𝑔 < ω𝑝 +ve dB +ve Stable
ω𝑔 = ω𝑝 0 0 Marginally Stable
ω𝑔 > ω𝑝 -ve dB -ve Un-Stable
Nyquist Plot
Relative Stability
1
Gain =
|G(jω𝑝).H(jω𝑝)|
Gain Margin(dB)= -[20 log|G(jω𝑝 ).H(jω𝑝 )|]
Phase Margin=180+ ∠ G(jω𝑔 ).H(jω𝑔 )
ω𝑔 = Gain Cross over frequency
ω𝑝 = Phase Cross over frequency
Nyquist Plot
Relation between Open and Close Loop System

System Zeros Poles

Open System
𝑺+𝟏
G(s)H(s)=𝑺+𝟓 -1 -5
Close Loop G(s)H(s) 𝑆+1
System
(-ve Feedback)
=
1 + G(s)H(s) 2𝑆 + 6
-1 -3
Characteristics
Equation
1 + G(s)H(s)=
2𝑆+6
𝑆+5 -3 -5
Nyquist Plot
Absolute Stability
𝑁 𝑖𝑠 𝑒𝑛𝑐𝑖𝑟𝑐𝑙𝑒𝑚𝑒𝑛𝑡 𝑜𝑓 𝑝𝑜𝑖𝑛𝑡
(-1+j0).

N=-1
[For clockwise N is –ve and
anti-clockwise N is +ve]
Nyquist Plot
𝑁 = 𝑃+ − 𝑍+
Where,
N=Total no. of encirclement of point (-1+j0). [For clockwise N is –ve and
anti-clockwise N is +ve]
𝑃+ =Positive poles of characteristic equation(Poles of open system) [Find
from given transfer function].
𝑍+ =Positive zero of characteristics equation (Poles of closed loop
system) [Find from above equation]
K=3, Stable K=7, Unstable
The Relative Stability of Feedback CS
The verification of stability using the Routh-Hurwitz criterion provides
only a partial answer to the question of stability----whether the system
is absolutely stable.
In practice, it is desired to determine the relative stability.
- The relative stability of a system can be defined as the property that is
measured by the relative real part of each root or pair of roots.
THANK’S
MERCI