CHAPTER 6
STABILITY
BEEE2364
CONTROL PRINCIPLES
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Learning Outcome
After completing Chapter 6, the student will be able to:
• make and interpret a basic Routh table to determine the
stability of a system.
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Stability Definitions
Definitions of stability:
• A linear, time-invariant system is stable if the natural
response approaches zero as time approaches infinity.
• A linear, time-invariant system is unstable if the natural
response grows without bound as time approaches infinity.
• A linear, time-invariant system is marginally stable if the
natural response neither decays nor grows but remains
constant or oscillates as time approaches infinity.
More definitions:
• A system is stable if every bounded input yields a bounded
output.
• A system is unstable if any bounded input yields an
unbounded output.
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Stability Definitions
(Cont.)
Stable system
Left half-plane
poles location Natural response
approaches zero
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Stability Definitions
(Cont.)
Unstable system
Natural response
Right half-plane grows without bound
poles location
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Stability Definitions
(Cont.)
Marginally stable system
Natural response
neither decays nor
grows
Imaginary plane
poles location
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Routh-Hurwitz Stability
Criterion
Problem: Consider an equivalent closed-loop system as
following.
Stable or unstable system? -> Use Routh-Hurwitz Criterion
Routh-Hurwitz Criterion:
• A method that yields stability information without the need
to solve for the closed-loop system poles.
• Two steps:
1. Create Routh table
2. Interpret Routh table
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Routh-Hurwitz Stability
Criterion
#1. Create Routh table
Initial Routh table
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Routh-Hurwitz Stability
Criterion (Cont.)
#1. Create Routh table (Cont.)
Complete Routh table
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Routh-Hurwitz Stability
Criterion (Cont.)
#2. Interpret Routh table
• 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.
• In other words, any sign changes exist implies the
existence of right-half plane poles, thus the closed-loop
system is unstable.
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Routh-Hurwitz Stability
Criterion (Cont.)
Example 6.1: Determine the stability of the following system.
Solution:
Find the closed-loop transfer function.
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Routh-Hurwitz Stability
Criterion (Cont.)
Solution (Cont.):
Create and interpret Routh table.
1. +ve to -ve
2. -ve to +ve
First column: Two sign changes -> two right half-plane poles,
thus the closed-loop system is unstable.
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Routh-Hurwitz Stability
Criterion (Cont.)
Special Case #1: Zero in the First Column (Solution 1)
Example 6.2 Determine the stability of the closed-loop transfer
function.
Solution #1:
Create Routh table:
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Routh-Hurwitz Stability
Criterion (Cont.)
Solution #1 (Cont.):
Assign the value of 𝜖 and check the sign
First column: Two sign changes -> two right half-
plane poles, thus the closed-loop system is unstable.
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Routh-Hurwitz Stability
Criterion (Cont.)
Special Case #1: Zero in the First Column (Solution 2)
Example 6.2 Determine the stability of the closed-loop transfer
function.
Solution #2:
Write the polynomial of the denominator in reverse order
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Routh-Hurwitz Stability
Criterion (Cont.)
Solution #2 (Cont.):
First column: Two sign changes -> two right half-
plane poles, thus the closed-loop system is unstable.
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Routh-Hurwitz Stability
Criterion (Cont.)
Special Case #2: Zero in the Entire Row
Example 6.3 Determine the stability of the closed-loop transfer
function.
Solution:
Create Routh table
Formed polynomial:
0 0 0
Differentiate the polynomial:
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Routh-Hurwitz Stability
Criterion (Cont.)
Solution (Cont.):
Complete and interpret Routh table
First column: No sign change -> no right half-plane
pole, thus the closed-loop system is stable.
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Routh-Hurwitz Stability
Criterion (Cont.)
Example 6.4: Find the range of gain 𝐾, for the system below
that will cause the system to be stable.
Solution:
The closed-loop transfer function:
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Routh-Hurwitz Stability
Criterion (Cont.)
Solution (Cont.):
Create Routh table
For the closed-loop system to be stable, no sign changes is
allowed for the first column.
Since “1” and “18” are positive, then
1386−𝐾
𝐾 > 0 and > 0 or 𝐾 > 1386.
18
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