Routh-Hurwitz Criterion for Stability
The equation in the denominator of the closed-loop transfer
function is called characteristic equation.
The roots of the characteristic equation (i.e. the poles) of the
closed-transfer function determines the stability.
Using this RH method one can tell how many closed-loop system
poles are in the LHP, RHP and the jω axis, without solving the
characteristic equation.
RH method also provides a scheme to design for gain K to make
the system stable.
(1) Generating basic Routh Table
Equivalent closed-loop TF
(1) Generating basic Routh Table
Example
(2) Interpreting the basic Routh Table
According to the criterion:
The number of roots of the polynomial that are in the
RHP is equal to the number of sign changes in the first
column
4 sign changes 4 roots with
positive real part
Illustrative Example of Stability test
How many roots of s 3 3s 2 s 2 0
have positive real part ?
s3 1 1 2 sign changes
2 roots with positive
s2 3 2
real part
5
s1
3 -3.4567
0.2283 + 0.7256i
s0 2
0.2283 - 0.7256i
The number of unstable roots = the number of 6
sign changes in the first column
Routh-Hurwitz Criterion: Special Cases
Zero only in the first column
Epsilon Method
Reverse Coefficients Method
Entire row is zero
Z-Plane and W-Plane in Digital Control Systems
Z-Plane
•The Z-plane is the complex plane used in the Z-transform for analyzing discrete-time
(digital) systems.
•It is equivalent to the S-plane used in continuous systems.
•Poles and zeros of a digital control system are plotted in the Z-plane.
Stability Condition
A discrete system is stable if all poles lie inside the unit circle
∣ 𝑧 ∣< 1
Relation with Continuous Systems
Continuous systems use the Laplace transform (S-plane).
The mapping from S-plane to Z-plane is
𝑧 = 𝑒 𝑠𝑇
where
•𝑠= Laplace variable
•𝑇= sampling time
This converts continuous systems → discrete systems.
Z-Plane and W-Plane in Digital Control Systems
W-Plane
The W-plane is obtained by the transformation
𝑤 = ln 𝑧
Since
𝑧 = 𝑒 𝑠𝑇
then
𝑤 = 𝑠𝑇
The W-plane behaves similarly to the S-plane.
Purpose in Digital Control Systems
Z-Plane
•Plot poles and zeros Summary
•Analyze digital system stability •Z-plane → analysis of discrete systems
•Design digital filters and controllers •W-plane → transformation that makes stability
W-Plane analysis similar to the S-plane
•Simplifies stability analysis
•Converts circular region to half-plane
•Makes analysis similar to continuous systems
If unity feedback then
1+G(z)=0
If there is a gain k in G(s) then
1+kG(z)=0
Plug T=0.1 in this
C.E was 1+kG(z)=0
Conversion of z to w involves extensive calculations