Control Systems [PCC 207]
Unit-2
Stability Analysis
• Characteristic equation of a system, concept of pole and zero,
• Response of various pole locations in s-plane
• Concept of stability absolute stability, relative stability
• Stability of system from pole locations
• Routh Hurwitz stability criterion
• Root locus: Definition, magnitude and angle conditions,
construction of root locus, concept of dominant poles, effect of
addition of pole and zero on root locus.
• Application of root locus for stability analysis
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Concept of Stability
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Stable System
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Stable System
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Unstable System
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Critically Stable system
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Critically Damped System
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Conditionally stable system
If stability of the system depends on certain condition of the
system, then such systems are called as conditionally stable
system.
i.e. for bounded input it produces bounded output if and only if
the condition is satisfied.
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Relative Stability
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Relative Stability
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0
Absolute, Relative, Marginal Stable system
& Unstable system
Pole Zero
Imaginary Axis Imaginary Axis ( jw ) Imaginary Axis
Relative
Stability
Improves
Real Axis ( б ) Real Axis
S-Plane
Absolute Stable System : Unstable System : All Poles Critically or Marginally Stable
All Poles or Zeros or both or Zeros or both located System : All Poles or Zeros or
located on LHS of S Plane on RHS of S Plane both located on Imaginary
Axis of S Plane
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Routh’s Stability Criterion
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Routh’s Array
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Routh’s Criterion
• The necessary & sufficient
conditions for a system to be
stable is all terms in the first
column at Routh’s Array should
have same sign.
• There should not be any sign
change in first column.
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Routh’s Criterion
• When there are sign changes in the first
column of Routh’s array then the system is
unstable.
• There are roots in RHS of S-plane.
• The number of sign changes equal the number of
roots in RHS of S-plane.
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Routh Criterion : Method for obtaining system stability
Stable system if roots lies in RHS of S-Plane
Characteristic equation, q(s)
n th order characteri stic equation of the form
Routh array a 0 s n a n 1 s n 1 a n 2 s n 2 a1 s a 0 0
The Routh-Hurwitz sn an a2 a4
criterion states that sn 1 a1 a3 a5
sn 2
the number of sn 3
b1
c1
b2
c2
b3
c3
roots of q(s) with
positive real parts
is equal to the s0 an . .
number of changes a1 a 2 a 0 a 3 , b a1 a 4 a 0 a 5 , b a1 a 6 a 0 a 7
in sign of the first b1
a1 2
a1 3 a1
column of the
b1 a 3 a1 b 2 b1 a 5 a1 b3
c1 , c2
b1 b1
Routh array. and continue to find futher elements.. ..........
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Routh’s Criterion-Special Case-I
We replace 0 by a very
small positive number ε
and complete the Routh
array lim ε 0.
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Routh’s Criterion-Special Case-I
+ + +5=0
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Routh’s Criterion-Special Case-I
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Routh’s Criterion-Special Case-I
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Routh’s Criterion-Special Case-I
+ + +1=0
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Routh’s Criterion-Special Case-I
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Routh’s Criterion-Special Case-II
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Routh’s Criterion-Special Case-II
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Applications of Routh’s Array
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• It is a graphical method to determine stability of system
where movement of poles in S-Plane is drawn when a
particular parameter of system( usually gain K ) is varied
from zero to infinity.
• Locus is constructed with the help of different Rules.
• Close loop negative feedback system is represented as
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Root Locus
• The closed-loop poles of the negative feedback control
are the roots of the characteristic equation:
1+ K G(s) H( s ) = 0
• The value of s in the s-plane that make the loop gain
KG(s)H(s) equal to -1 are the closed-loop poles.
• i.e 1+ K G(s) H( s ) = 0 K G(s) H( s ) = -1+ j0
• This equation can be split into two equations by
equating the magnitudes and angles of both sides
of the equation.
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Root Locus
Angle and Magnitude Conditions
Imaginary Axis ( jw )
K G(s) H( s ) = -1+ jo
Magnitude: K G(s) H( s ) = 1 + 180
o
Real Axis ( б )
Angle : K G(s) H( s ) = 180o (2 l +1) -1
o
where l = 0,1,2,… - 180
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S-Plane
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Rules for Construction of Root Locus
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Rules for Construction of Root Locus
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Rules for Construction of Root Locus
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Rules for Construction of Root Locus
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Rules for Construction of Root Locus
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Rules for Construction of Root Locus
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Rules for Construction of Root Locus
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Rules for Construction of Root Locus
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Rules for Construction of Root Locus
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Rules for Construction of Root Locus
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Rules for Construction of Root Locus
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Rules for Construction of Root Locus
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Rules for Construction of Root Locus
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Rules for Construction of Root Locus
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Rules for Construction of Root Locus
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Rules for Construction of Root Locus
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Rules for Construction of Root Locus
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Numerical
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Numerical
P=3
Z=0
P-Z = 3
S = 0, -1, -3
θ= 60, 180, 300
σ= -1.33, Breakaway point = -0.45, -2.21
Valid Breakaway point = -0.45
Intersection with imaginary axis S = +-j1.73
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Applications of Root Locus for Stability Analysis
1. Determining System Stability
• Root locus shows how the closed-loop poles move in the s-plane
as gain K varies.
• If all poles lie in the left half plane (LHP) → system is stable
• If any pole crosses into right half plane (RHP) → system
becomes unstable
• Helps find the range of gain for stability
2. Finding Critical Gain (Marginal Stability)
• Root locus helps determine the value of gain at which poles lie on
the imaginary axis.
This gain is called critical gain or marginal gain.
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3. Studying Relative Stability
Not just stable/unstable — root locus shows how far poles are
from imaginary axis.
Farther left →
Faster response
More stable
Closer to imaginary axis →
Slower response
Less damping
4. Effect of Gain on Transient Response
As gain increases, root locus shows how:
• Damping ratio changes
• Natural frequency changes
• Overshoot and settling time are affected
So engineers use it to tune gain for desired performance
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