21BMC305T

Biocontrol System
Unit III : Transient response stability

Lecture notes
A Bhargavi Haripriya
 Introduction
• 3 requirements needed when designing a control
system
• Transient response
• Stability
• Steady-state errors
• What is stability?
• Most important system specification.
• We cannot use a control system if the system is unstable
• Stability is subjective
• We have learned that we can control the output of a system if the
steady-state response consists of only the forced response. But the
total response, c(t)

c ( t ) = cforced ( t ) + cnatural ( t )
 Introduction
• Definitions for linear, time-invariant systems - Using
natural response:
• A system is stable if the natural response
approaches zero as time approaches infinity.
• A system is unstable if the natural response
approaches infinity as time approaches infinity.
• A system is marginally stable if the natural
response neither decays nor grows but remains
constant or oscillates.
• A system is stable if every bounded input yields a bounded output.
We call this statement the bounded-input, bounded-output (BIBO).
• Using the total response (BIBO)
• A system is stable if every bounded input yields a
bounded output.
• A system is unstable if any bounded input yields an
unbounded output.
• Stability of a system based on the system poles.
• Stable systems have closed-loop transfer functions with
poles only in the left half-plane.
• Unstable systems have closed-loop transfer functions
with at least one pole in the right half-plane and/or poles
of multiplicity greater than 1 on the imaginary axis.
• Marginally stable systems have closed-loop transfer
functions with only imaginary axis poles of multiplicity 1
and poles in the left half-plane.
Stable system

Closed-loop poles and response for stable system

Unstable system

Closed-loop poles and response for unstable system

In order for us to know the stability of our system we need
to draw the system poles. To find the poles we need to
calculate the roots of the system polynomials.

• Stability summary
Introduction
• What about this system? Can you find the root locus for
this polynomial?

Figure – Close loop system with complex polynomial.

• A method to find the stability without solving for the
roots of the system is called Routh-Hurwitz Criterion.
Routh-Hurwitz Criterion
• Use Routh-Hurwitz criterion method to find how many closed-
loop system poles are in the LHP, RHP and on the jω-axis
• Disadvantage : We cannot find their coordinates
• The method requires two steps:
• Generate a data table called a Routh table
• Interpret the Routh table to tell how many close-loop
system poles are in the left half-plane, the right half-plane,
and on the jω-axis

Figure – Equivalent closed-loop transfer function

Routh-Hurwitz Criterion
• First step : Based on the denominator in above Figure, the
highest power for s is 4, so we can draw initial table based
on this information. We label the row starting with the
highest power to s0.
• Input the coefficient values for each s horizontally starting
with the coefficient of the highest power of s in the first row,
alternating the coefficients.

s4 a4 a2 a0
s3 a3 a1 0
s2
s1
s0
 Routh-Hurwitz Criterion
• Remaining entries are filled as follows. Each entry is a
negative determinant of entries in the previous two
rows divided by the entry in the first column directly
above the calculated row.
Routh-Hurwitz Criterion
Routh-Hurwitz Criterion
Routh-Hurwitz Criterion
Routh-Hurwitz Criterion
Routh-Hurwitz Criterion
Routh-Hurwitz Criterion
Routh-Hurwitz Criterion
Routh-Hurwitz Criterion
Routh-Hurwitz Criterion

• Example 6.1
• Make a Routh table for the system below

• Answer:
• get the closed-loop transfer function
Routh-Hurwitz Criterion
• We can multiply any row in Routh table by a positive
constant without changing the rows below.
Routh-Hurwitz Criterion

• Interpreting the basic Routh table

• In this case, the Routh table applies to the systems with

poles in the left and right half-planes.

• Routh-Hurwitz criterion declares that the number of

roots of the polynomial that are in the right half-plane is
equal to the number of sign changes in the first column.
Routh-Hurwitz Criterion
Routh-Hurwitz Criterion
• If the closed-loop transfer function has all poles in the left half of the s-
plane, the system is stable.
• The system is stable if there are no sign changes in the first column of
the Routh table. Example:
Routh-Hurwitz Criterion

-
-
+

• Based on the table, there are two sign changes in the first
column. So there are two poles exist in the right half plane.
Which means the system is unstable.
Routh-Hurwitz Criterion

• Exercise 1

Make a Routh table and tell how many roots of the following
polynomial are in the right half-plane and in the left half-
plane.

P ( s ) = 3s + 9s + 6s + 4s + 7 s + 8s + 2s + 6
7 6 5 4 3 2
Routh-Hurwitz Criterion

Answer
Routh-Hurwitz Criterion

Answer
Routh Hurwitz

• Exercise 2
Routh Hurwitz

• Solution
Routh Hurwitz

• Exercise 3

• Solution
Routh Hurwitz

• Exercise 4
Routh Hurwitz

• Solution
Routh-Hurwitz Criterion: Special
cases
• Two special cases can occur:

• Routh table has zero only in the first column of a row

s3 1 3 0
s2 3 4 0
s1 0 1 2
• Routh table has an entire row that consists of zeros.

s3 1 3 0
s2 3 4 0
s1 0 0 0
Routh-Hurwitz Criterion: Special
cases
•Zero only in the first column
• There are two methods that can be used to solve
a Routh table that has zero only in the first
column.

1. Stability via epsilon method

2. Stability via reverse coefficients

Routh-Hurwitz Criterion: Special
cases
• Zero only in the first column
• Stability via epsilon method

Determine the stability of the closed-loop transfer

function

10
T (s) = 5
s + 2s 4 + 3s 3 + 6s 2 + 5s + 3
 Routh-Hurwitz Criterion: Special
cases
• Solution:
• We will begin forming the Routh table using the denominator. When
we reach s3 a zero appears only in the first column.

s5 1 3 5
s4 2 6 3
s3 0 7/2 0
s2
s1
Zero in first s0
column
Routh-Hurwitz Criterion: Special
cases
• If there is zero in the first column we cannot check
the sign changes in the first column because zero
does not have ‘+’ or ‘-’.
• A solution to this problem is to change 0 into
epsilon (ε).

s5 1 3 5
s4 2 6 3
s3 0 ε 7/2 0
s2
s1
s0
Routh-Hurwitz Criterion: Special
cases
• We will then calculate the determinant for the next
s values using the epsilon.
Routh-Hurwitz Criterion: Special
cases
• If we all the columns and rows in the Routh table we will get
Routh-Hurwitz Criterion: Special
cases
• We can find the number of poles on the right half plane based on the
sign changes in the first column. We can assume ε as ‘+’ or ‘-’
Routh-Hurwitz Criterion: Special
cases
• There are two sign changes so there are two poles on the right half
plane. Thus the system is unstable.
Routh-Hurwitz Criterion: Special
cases - 2
• Zero only in the first column
• Stability via reverse coefficients

Determine the stability of the closed-loop transfer

function

10
T (s) = 5
s + 2s 4 + 3s 3 + 6s 2 + 5s + 3
Routh-Hurwitz Criterion: Special
cases
• Solution:
• First step is to write the denominator in reverse order (123653 to
356321)

D ( s ) = 3s + 5s + 6s + 3s + 2s + 1
5 4 3 2

• We can form the Routh table using D(s) values.

Routh-Hurwitz Criterion: Special
cases
• The Routh table indicates two signal changes. Thus the system is
unstable and has two right-half plane poles.
Routh-Hurwitz Criterion: Special
cases - 3
• Entire row is zero

• the method to solve a Routh table with zeros in entire

row is different than only zero in first column.

• When a Routh table has entire row of zeros, the poles

could be in the right half plane, or the left half plane or
on the jω axis.
Routh-Hurwitz Criterion: Special
cases
• Determine the number of right-half-lane poles in
the closed-loop transfer function

10
T (s) = 5
s + 7 s 4 + 6s 3 + 42s 2 + 8s + 56
Routh-Hurwitz Criterion: Special
cases
• Solution:
• Start with forming the initial Routh table
Routh-Hurwitz Criterion: Special
cases
• We can reduce the number in each row
Routh-Hurwitz Criterion: Special
cases
• We stop at the third row since the entire row consists of zeros.

• When this happens, we need to do the following procedure.

Routh-Hurwitz Criterion: Special
cases
• Return to the row immediately above the row of zeros and form the
polynomial.

• The polynomial formed is

P ( s ) = s + 6s + 8
4 2
Routh-Hurwitz Criterion: Special
cases
• Next we differentiate the polynomial with respect to s and obtain

dP ( s )
= 4s 3 + 12s + 0
ds

• We use the coefficient above to replace the row of zeros. The

remainder of the table is formed in a straightforward manner.
Routh-Hurwitz Criterion: Special
cases
• The Routh table when we change zeros with new values
Routh-Hurwitz Criterion: Special
cases
• Solve for the remainder of the Routh table

• There are no sign changes, so there are no poles on the right half
plane. The system is stable.
Example 1- normal
Example 2 - special case
Example 3 – special case
Example 4 – special case
Exercise

• Given that G(s) is the open loop transfer function for a unity feedback
system, find the range of K to yield a stable system
• Solution
Exercise

• Find the range of K to yield a stable system given the closed loop
transfer function below
Solution