Example 8.

84 Explainbrieflythe Routh-Furwitzcriterion and useit to determine the roots

)in RHS ii) LHS and ii) On joaxis of s plane for the polynonial.
P(S)=s+s+5s+8 +28258 March-t2 Marks 10
Solution : The Routh's array is,
6
S 1 5 2 -8

S
5 1 1 -2

4 4 -8 0
 locatedin roots
10Marks
Aug.-06
of
are nunber
three Icase
Special
0
= =t1
S the
-8
88 0
change. renmaining
[Link] 1 0
248 + =
2case
Special + =#jN2,
4s*
s
+ 3168 A(s) 1=-2,
sign 3
+9=0
= = Solving s-plane. =
A(s)dA(s) LHSbelow
roots
ds by o
s 3 1 0
detected 6 roots,given 5
of 20s+9s
RHS total
=0
of =
2 +1=0
eguations 2
+5s+3s+1
3 2 2 1
in is
root which out axis +
jo 11s
one RHS hence 3s
characteristic
root, + 28-2 2e-2
-8 + 148 1 1 1
so 5s +25
8
in axis. order
change 1 +26+
-8 root jo =
16 72 RHS part 3s +3s
0 2 on 6
signone the +
tjv2is So real 46 +s
indicates 3s
equationFor positive
6 5 3 2
S
one s-plane. )s+s+
s+ so
S
1S roots, 8.8.5 i)
is + Solution:
Thereit ELample
with s
So The TheofLHS )
 two are +4=0
Domain s-plane,
roots Feb.
09
Marke
hence +6s²
[Link]
Time
array
s3s+11s-+9.
2case
=
A(s) +22s
Special
+12s
=6s two eguation. 5half
in 28 system.
Analysis
hence = marginallyright
Routh's A(s)
Stability
characteristic the the
9 0 0 array that
in of
of dA(s) verifyis lie stability knowi
column ds the systempolynomial
of by for
=0 and the
column gTOen and thrust
first on
+9s+920 9 9 0 0 procedure characteristic up
system tjv2 Comment An
8-27 the
’0 first -
PUBLI
0 in
+208214 11 11 22 9 0 0 0
the 0 and
: the the
e Lim changes of tj axis.
Lim +11s3 7.333 +4
stability the
as 3 3
12 -23
9 0
in
+8st6sfor are jw +4s+s+2 TECHN
as Positive
sign
changes 8.8.3axis ofrootson
Negative part.+14s +6.6145+13.2839 the and 1S,
+1 -32 part. imaginary
example many
certain +253
s5+254
s-plane array
’ tworeal +3s 1 9 sign +9s
positive real H¡w Routth's
’ are +s+4s6 two As +5s Refer of
positive on
roots
hence half
Systems
Control 28-2 28-2 there 6 5 are 8.8.6 8.8.1
28-2 7
have so435: left Solution:
Thus G8 There Xample Solution ample the P(s)
Now And having
rootsii)
 1 2 1

2. 4 2 Row of zeros
+ 4s +2
4
3
0 A(s) = 2s +
8 0
8 d A(s) = 8s°+ 8s
2 2 0 ds
oROw of zerOS
o0
2
4 A(s) =2s +2
d A(s) = 4s
S 2 ds

jo
No sign change in first column, s0 no root is in the 4
right half of s-plane. +j Repeated
Solve A(s) = 0 ie. 2s + 4s +2= 0
ie. s +2s + 1 =0 Real

(s2 +1)2 = 0ie. s² =1, -1 ie. s = tË, tË

(s²
Thusthere are 4 roots on jo axis and hence there is 5
-4 =1 root in left half of s-plane. As there are repeated
root on jo axis, the system is unstable, in nature.

Review Questions
 that the characteristic equation.
Example 8.9.2 Determine the ranges of K such
roots more negative than s 1
s + 3K + 1) s +(7K + 5)s +(4K + 7) = 0 has

Solution : Puts= x1
array interms ofx indicat
x is dummy variable to shift origin at s = -1. The Routh's
Instead of x, any ofhes
how many roots exist to the right or left of s = -1 in the S-plane.
variable such as s' may be used.
.. (x-1)'+3 (K++ 1) (x- 1)+ (7K+5) (x- 1)+ (4K+ 7) = 0
Solving X 3
+ 3Kx + (K+ 2) x+4 = 0
Routh's array is,
3
1 K+2
2 4
3K

3K(K+ 2)- 4
3K

From x, 3 K > 0 i.e. K>0

3K (K + 2) - 4 > 0 ie. 3K(K + 2) > 4 ie. 3K + 6K -4>0
i.e. (K -0.5275) (K +2.5275)>0
K+ 2K-1.33 > 00 ie.
K> 0.5275 and K>- 2.5275

Ultimate range of Kis 0.5275 <K<, to have roots more negative thans=-1 1e.
located to the left of s = -1.
 (s'Fro)m', .(s) s' Cont
(s)0 (s (s12 Routh'
(array,
s) s i) _1Routh' equat
arraysis, +21s+s' G(s)Hs)1+Solutionn : clolpolosedop,es ExaSystptleam
This For0<K< 70 13K 10
+7(s") 210-3K (K+21)+13K=
+1082. 0 Routh's
is 12 28+7K 7 1 its 10
-12K+12 8.93
the K closed characteristicisT,he criterion
- +10(s´-1)
+s'[4 ie. =
0 A
range 12 7
- K+
21
Ks+13K unity
loop 0 13K calculate
5K +K]+ mOr1.
e
of +t
K 40 +(s-1)(K+21) poles negative
than feedback
to [12K-12] =0 1+
the
get K<<8 > 0 4+
K
K-12 12 more ie. (s+3) s Tange
closed 0 K(s+13) March2
i.e. =0 negative stability,For i)
From From s+10s -
loop +13K= (s of
+7) control
40 s, s, Aug01 K
= for
poles > 210 +s 0
From 0 than Range ..K<70
13 whichsystem
5K and
more - -3K K> Juv06
i.e. (s)°,12 1, of the
solving, K
K< use for >0 0,
negative system has
8 K>1 s
stability.
= u09
G(s)
K- s-1 is
than ..210
>3K
12 -.K>0 ihas()
16 s(s+3) ts
-1. K(s+13)
> an stable
0
6
Mark
Using
8
 4 + 3s
3s ++ 5 +1 has all its roots in L.H
Example 8.9.4 The polynomial P(s) = s + 26
plane. lUse R-H criterion to determine the number of roots of P(s) lying between s= 1
and s 1.
Solution:P's) = s + 253+ 352
+28+ 4+
3s s+1

For checking number of roots on RHS. of s =- 1, put s = s'-1

P(s) = (s'-1)* +2 (s'-1)° +3 (s- 1) + (s'- 1)+ 1
Solving P(s) = (s)4- 2(s) +3(s)2 3(s) +2
Routh's array is,
(s) 1 3 2
There are 4 signchangeshence 4 roots are to
(
(s3 -2 -3 the right ofs 1 .

(s12 1.5 2

(s) 0.333
(s)0 2

1
For checking nunber of roots on [Link]. of s=-put s = s-0.5.

P(s) = (s'- 0.5)* +2(s'-0.5) +3(s'-0.5) +(s´- 0.5) +1

Solving P(s) = (s)*+ 1.5(s)-s'+ 1. 0625
Routh array is,
(s)4 1 1.5 1.0625
(s)3 0(+e) -1

(s)2 1.5[+1 1.0625

(s)' negative
negative as [’0
(1.5e+1 (-1)-1.0625ee 0
changes
(1.5e+1 So two sign

(syo 1.0625
 hence
Thus There
there
there
are
are
are two
two
two
roots sign
s
and roots
changes
to
of the
1. Ps) RH.S.
lying in
first
of
between s
column

s=-1 s=
Roots
Roots
3. 2

S=0
 Sibstituting
R Solution
R(s) Y(S) R(s) Y() Eliminating : R u
RH
the o5
value criterion The
1- 1. 1+G(s) G(s) block
(s+ of
1-G²(9) 1-G2%) G?(9) minor to
) 4) K? G(s) G'() dagram
determine
2K2 (s+
feedback Gs)
5) (s+ 1-G(s) G(s)
2
4) 1-2G(s) the of
(s K G'(s) a
(s+ + 8.9.5
Fig. loops, feedback
range
5) 8.9.4
Fig
4)
of
(s+ K? K
control
2K? for
R stability
system
G(s)
if
Gs) is
Aug shown
1-G(s) G(s) 05,(s+4)(s+5) =
Jan in
K
the
14,
Marks Fig.8.9.4.

8
 of From Routh's
arrayis,
KFor
r row
any The
value of
S characteristic
s, 4

is of
0
< K s+
een
<
equation
18s
. 36360-18(4002K)
0 +121s2
< 400 4002K
-
101 101
is,
K< 2K 18 1
400 s
+360s+ K?
14.1421
,200<K< +
the 18s
> >
erm 2K 0 400-2K?
+
121s
of ie.
s 4002K
- +360s+
is 200
0
vs >
K 400

e. 2K
400-2K =
0 0 0
hus
rany
Omain
 given 6
Marks
system.
June-13,
Mari
are
criterion. stablet4
sustems
July
foa 0.527
<K
K<-2.5275
K>2.5275
RH control
is K
stability of
using
7.5
< value
eedback
0 0
stable K= > 0
0 > and and
= 6K 6 for the 0 +6K-4>0
+
G(s)H(s) sK>0 45 K> 2.5275)
be K< K find
certain stabil
K) of
to 45 0.5275
K>K<0.5275
- range and 0,
sustem (9 s, ie., > +
(K
+ s of of 0<K tor not
75 3K 3K² 0.5275) for
1 + rowrow K the
the is or
equuation s ,s',
5s 6 stable K
equation Hence
for + FromFrom>
.".45 FromFrom of
- value
K s (K OR
of is
chAracteristics
i.e. system
=0
range ss2+5s+
9) characteristic posi
K(1-s) 9-K +4 is, K+2
the =0 array
the +(K+2)s
4 3K2
+6K-4
0
K 0
Find +5s+9)
s(s Routh's
array
is, Determine
The Routh's of
(1-s)
K 5K-K
45 rang
G(s)H(s) The
8.9.8 = 3K
8.9.9
Solution: 5 s+3Ks
mole below. Solution: 3K
the
1+ 1 5 K Example 1 4 ienc
3
s3
 the firstto are
transfer stable. are 0 is
roots
Marksfor :
system the equation
be K answer
loop in the
to above of
system 12 values changes
all
characteristic
open dune the becomes,
the verify Thus
the the
of
by for equation of sign
0.5. 0.5.
characterized
rangeand equation
K no
of procedure of =-than
values the are root
characteristic characteristic s negative
calculate thereno of
of
is range 0 =0 column, right
system the = As
0.5)+13 more
the the
for 4.375 the
criterion,
control caleulateof 8.9.3 hence +12.75s'+
roots 0.5)+22(s'-
example
0.5
unity
feedback
Example the Routh's
criterion, - +8.5(s')2
all =s' 12.75 4.375
0.5 Refer Routh
array
the s 0.5)3+10(s'- 0
+s
ss
3Xs+7) and (s')3
+ RouthK than
13)
K(s negatroe
more :
Using
stable T
A for K=1 12.2354.375
89.12 8.5
function the tf
Check i) be
70,
0<K< 1
a11sing Put (s-
Gls) : to
Solution (s3 (s92 (s90
svstem i1)
 produce. KK= [Link] Zero
of [Link]
Marginal [Link]. 8.10
Example To Key Marginal
(Kmar) 1.
frequency? What
G(s) Kmar: Point i.e . So
obtain For May- How
value,valuevalue Marginal
(s+2)(s+4)($the is 810.4 indicates The Hence one 10, Routh's
marginallyvaluea Aug.
the
The magnitude because of of
coefficient
value frequency marginal K. of 02, criterion K
openK the K
Nowwhich 07, and
of
K fo r stable K
BLICATIONS
TECHNICAL can
+6s loopfrequency of value for K= is
July11, J
K Frequency be
which + TF. imaginary of s = makessystem, that
25) of used
oscillations, makes 0, 0 15,
Determine of
a K
vanishes value to
gives of constant any
unity sustained Isa there March-01, study
oscillations
sustained roots row row of
feedback value ofrelative
An the solve must
up
of which which term of of Sustained K
range A(s)
thrust Routh's s befofror 02, stability
oscillations, the in
control as
a
June-10
for of =0 makes makes th e which
knowiedge vaiues auxiliary roW row which ?
system obtained characteristic array
any system of
of Oscillations
system 1
Wht is? of which zeros Zeros
row as Feb.
K is equation row
for given for other 03,
stability.
system system nstable but
occurring becomes
May marginal becornes
equation of 07,
the by th an K=
caled
zeros is
10, A(s) 10
oscillation is instead of cannotbe 0
Marks s aed margraly 0 inn08,14Dec
going valiye = Routhis
10 0
n o&fos be
 and
Dormain
Mark
92,
K
Time of
value
in 666.25
<
Analysis
marginal
s, s, >0
1 7995-12
K K
Stability = of
of .K>-200 666.25
Ks
200< =1 0.1
H(s) 200+
>0
K
row row 7995
12 s,
K>0
From 0 K know
:K< H(s) > > >
Prom From K 0.1K0.65 6.5
0, of
=
K.m
666.25
= and s'From
, for
..
25) zeros. K) S=tj4.062 values - ..
0.65 thrust
+6s+ 200
+
K (-200+52.5 rad/sec. 0 up
0 is of
= An
0
stability
of G(s)H(s) PUB
8-39
(s row range
K (s+4) (200
+
K) = 4.062
is 0.25s) K 0
as ie. s2 1
0 198 system,
ftnd
69
for s i.e. +
(s+2)=
0
of 0 1 (1+
K) ie.
(-200+ frequency oscillations
equation,
s+(200-+
K row= 666.25) feedback K (1+0.4s) 0.65-0.1K TECH
1+G(s)H(s)
1+
= of K 0.25s)
7995-12K
200
+
K.
values 12 0 = 0.1 0.65 0.65
52.5 52.5 makes 52.5 0 K
1 12 - K)
7995 unity (1+sustainedCharacteristic K=
+198 +(200+ oscillation s
of it K +0.4s) 1+ s+
rangethat K, For +
s 3s
2
+69
Systems
control Suchmarginal
s52.5 s{1of 0.65s P
Solution:
412s3 the
At
Kmar
Hence
the frequency
HenceK = = +
Find For A(s) Gs) Solution
4 [Link]
 .. Range of values of K, 0<K<6.5.
rOwot
Themarginal value of Kis a value which makes any row other than s" as
Zeros.

0.65- 0.1 Kmar = 0 ie. Kmar 6.5

find frequency, find out roots of auxiliary equation at marginal' value of K.

To
A(s) = 0.65s + K=0;
0.65s2 + 6.5 = 0 Kmar = 6.5
s2 = - 10 ie. s=tË3.162

Comparing with s=tjo

Frequency of oscillations =3.162 rad/sec.