Routh-Hurwitz Method :

used to determine if the characteristic

equation of a closed-loop transfer function
is stable .

Edward John Routh (1873) Adolf Hurwitz (last

,

Step 1 : Write the characteristic equation in standard

decreasing power :
9, 54 + des + 935' tags + 9

Step 2 : Write the

coefficients in the first now of
the tel table , in
alternating sequence :
BC

sil
-

33a2 94 0

If there is an odd number

of coefficient-
fill the
remaining value as zero.

;
Note labels starts
from the
the row

highest order of s in the

characteristic equation .
 Deterine the values of the table :
Step 3 :
remaining
A BC

I
a
as as

53 as 940

52 bi be be
sc , Ch

so d)

Write the row labels the

from highest power
of S to so regardless if there are zero
,

coefficients for other powers of S

.

As you can see the third now has the same

,

number column the second now . The 4th

of as

now has one less column from the 3rd now

,
the 5th now has one less column than the 4th
row , etc.

=
To solve b:
for

-
52 B
 BC
for by

t
To solve :

by:
& X

To solve by :
for

92
gr bi be e
Then solve for a

-
tils
 To solve

I
G :

~
To solve
for d :

,I si
-
 4 at column A :
Step
Look
:

i-
I
The system is stable
If there
549)
92
are no sign change -
S
2
all values are positive or
sb
are
negativee.

Example 1 :

Make the Booth table the characteristic :

for equ
D = 33 + 10s + 31s + 1030

and determine the

stability of the system
.
A BC

30-
=

I
-310 bi

210
100 ⑧

/
S

8 be =
S

chang
so -

1030

1000
change
-
column A 1
:
10-72 -

1030

Therefore the system not

isstable
Example 2:
stability design
Find the range K forth system that will
of cause

the system to be stable :

T
AssumeK >O
↑

solution :

=
-
I
21
b = t =
1386-k
S
18 18

Sin b= lig = o
18

I
:
K

Because 10 ,
row so is good .

1
For row s':
1386- K
0 = >
-
k < 1380
18 is
Therefore M < 1380
Example 3 : special case (zero
denominator)
D = 54 + 25 + 3 + 1

-
C substitute a variable

I
to the zero value ,
then

33x3
Z
151
#-
O

⑧
assumethVaea
S

b) =
&
X
X2
S 3 -
- x5

I
2x -
15

5 X X

==
&
b

-()
↑

d = 1

Step 2
/Tim
:

F
column A :

I
D ①

Therefore the system is not stable

-