AUTOMATIC CONTROL ENGINEERING

Chapter 3:
ANALYSIS OF SYSTEM STABILITY

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Chapter 3: ANALYSIS OF SYSTEM STABILITY

Content of chapter 3:

3.1 Stability definition

3.2 Algebraic stability criteria
3.3 Root locus method

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 3.1 Stability definition
BIBO stability
- A system is defined to be BIBO stable if every bounded input to the
system results is a bounded output over the time interval for all
initial times

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 3.1 Stability definition
Poles and zeros
- Consider a system described by the transfer function (TF):

- Denote: (TF’s denominator)

(TF’s numerator)

- Zeros: are the roots of the numerator of the transfer function, i.e. the roots
of the equation . Since is of order , the system has
zeros denoted as .
- Poles: are the roots of the denominator of the transfer function, i.e. the
roots of the equation . Since is of order , the system has
poles denoted as .

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 3.1 Stability definition
Pole – zero plot
- Pole – zero plot is a graph which represents the position of poles and zeros
in the complex s-plane.

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 3.1 Stability definition
Stability analysis in the complex plane
- The stability of a system depends on the location of its poles.
- If all the poles of the system lie in the left-half s-plane then the system is
stable.
- If any of the poles of the system lie in the right-half s-plane then the
system is unstable.
- If some of the poles of the system lie in the imaginary axis and the others
lie in the left-half s-plane then the system is at the stability boundary.

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 3.1 Stability definition
Stability analysis in the complex plane

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 3.1 Stability definition
Characteristic equation
- Characteristic equation: is the equation .
- Characteristic polynomial: is the denominator
- Note:

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 3.2 Algebraic stability criteria
Necessary condition
- The necessary condition for a linear system to be stable is that all the
coefficient of the characteristic equation of the system must be positive.
- Example: Consider the systems which have the characteristic equations:

 Unstable

=> Unstable

=> Cannot conclude about the stability

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 3.2 Algebraic stability criteria
Routh’s stability criterion: Rules for forming the Routh table
- Consider a linear system whose characteristic function is:

- In order to analysis the system stability using Routh’s criterion, it is

necessary to form the Routh table according to the rules below:
- The Routh table has rows.
- The row consist of the even-index coefficients.
- The row consist of the odd-index coefficients.
- The element at row column is calculated as:

,
with
,

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 3.2 Algebraic stability criteria
Routh’s stability criterion: Routh table

𝟎 𝟐 𝟒 𝟔 ...

𝟏 𝟑 𝟓 𝟕 ...

𝟏𝟏 𝟏𝟐 𝟐𝟐 𝟏𝟑 𝟐𝟑 𝟏𝟒 𝟐𝟒 𝟏𝟓 𝟐𝟓 ...
𝟐𝟏
𝟐𝟏 𝟐𝟐 𝟑𝟐 𝟐𝟑 𝟑𝟑 𝟐𝟒 𝟑𝟒 𝟐𝟓 𝟑𝟓 …
𝟑𝟏
... ... … … … … …

𝒏 𝟐,𝟏 𝒏 𝟐,𝟐
𝒏 𝟏,𝟏 𝒏 𝟏,𝟐

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 3.2 Algebraic stability criteria
Routh’s stability criterion: Routh’s criterion statement
- The necessary and sufficient condition for a system to be stable is that all
the coefficients of the characteristic equation are positive and all terms in
the first column of the Routh table have positive signs.
- The number of sign changes in the first column of the Routh table is equal
the number of roots lying in the right-half s-plane.

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 3.2 Algebraic stability criteria
Routh’s stability criterion: Example 1
- Analyze the stability of the system which have the following characteristic
equation:
- Solution: Routh table
1 5 1
4 2
1

- Conclusion: The system is stable because all the terms in the first column
are positive.

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 3.2 Algebraic stability criteria
Routh’s stability criterion: Example 2
- Analyze the system described by the following block diagram:

Solution: The characteristic equation of the system:




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 3.2 Algebraic stability criteria
Routh’s stability criterion: Example 2
Routh table ( )
1 16 30
6 31 50
0

50

50
Conclusion: The system is unstable because the terms in the first column
change their signs two times. The characteristic equation have two roots with
positive real parts.
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 3.2 Algebraic stability criteria
Routh’s stability criterion: Example 3
Find the condition of K for the following system to be stable

Solution: The characteristic equation of the system is:

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 3.2 Algebraic stability criteria
Routh’s stability criterion: Example 3
Routh table ( )
1 3 K
3 2
K

K
The necessary and sufficient condition for the system to be stable:

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 3.2 Algebraic stability criteria
Routh’s stability criterion: Special case #1
If a first-column term in any row is zero (but the other teems in that
row are not zero), then the zero term is replaced by a very small positive
number ε and the rest rows of the Routh table is calculated as the normal
case.

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 3.2 Algebraic stability criteria
Routh’s stability criterion: Example 4
Analyze the stability of the system whose characteristic equation is:

Solution: Routh table

1 4 3
2 8
3

3
Conclution: Because the terms in the first column change their signs two
times, the system is unstable and it has two poles lying in the right-half
complex plane.
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 3.2 Algebraic stability criteria
Routh’s stability criterion: Special case #2
If all the coefficients in any row are zero:
- Forming an auxiliary polynomial with coefficients of the last row above
the “all-zero-term”, denote the auxiliary polynomial as
- Replace the “all-zero-term row” by another row whose elements are the
coefficients of the derivative .
- Then continue to calculate the Routh table as the normal case.

Note: The roots of are also the roots of characteristic equation

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 3.2 Algebraic stability criteria
Routh’s stability criterion: Example 5
Analyze the stability of the system whose characteristic equation is:

Solution: Routh table

1 8 7
4 8 4
0

8
4
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 3.2 Algebraic stability criteria
Routh’s stability criterion: Example 5
- The auxiliary polynomial:

- The roots of the auxiliary polynomial (are also the roots the characteristic
equation):

- Conclusion:
- All the terms in the first column are positive, so the characteristic
equation has no root lying in the right-half s-plane.
- The characteristic equation has two roots lying in the imaginary axis.
- The number of roots lying in the left-half s-plane is .
The system is at the stability boundary.

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 3.2 Algebraic stability criteria
Hurwitz’s stability criterion: Rules for forming the Hurwitz matrix
- Given a system whose characteristic equation is:

- In order to analysis the system stability using Hurwitz’s criterion, it is

necessary to form the Hurwitz matrix according to the rules below
- The Hurwitz matrix is a square matrix of order
- The diagonal consists of the coefficients to .
- The odd row of the Hurwitz matrix consists of the odd-indexed
coefficients of the characteristic polynomial; the indexes increase on
the right and decrease on the left of the diagonal.
- The even row of the Hurwitz matrix consists of the even-indexed
coefficients of the characteristic polynomial; the indexes increase on
the right and decrease on the left of the diagonal.

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 3.2 Algebraic stability criteria
Hurwitz’s stability criterion: Hurwitz matrix

Hurwitz’s criterion statement

- The necessary and sufficient condition for the system to the stable is
that all the determinants of the principal submatrices of the Hurwitz
matrix are positive.

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 3.2 Algebraic stability criteria
Hurwitz’s stability criterion: The determinants

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 3.2 Algebraic stability criteria
Hurwitz’s stability criterion: The determinants

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 3.2 Algebraic stability criteria
Hurwitz’s stability criterion: Example
- Analyze the stability of the system whose characteristic equation is:

- Solution:

Hurwitz matrix:

The determinants:

- Conclusion: The system is stable because all the determinants are

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 3.2 Algebraic stability criteria
Hurwitz’s stability criterion: Some corollaries
- A order system is stable if the coefficients of the characteristic
polynomial satisfy the conditions:

- A order system is stable if the coefficients of the characteristic

polynomial satisfy the conditions:

- A order system is stable if the coefficients of the characteristic

polynomial satisfy the conditions:

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 3.2 Algebraic stability criteria
Hurwitz’s stability criterion: Explain the corollary of order system

The characteristic of order system :

Necessary condition:
Hurwitz matrix: , ,
Sufficient condition ,

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 3.2 Algebraic stability criteria

Hurwitz’s stability criterion: Explain the corollary of order system

The characteristic of order system :

Necessary condition:

Hurwitz matrix: , ,

Sufficient condition ,

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 3.2 Algebraic stability criteria
Hurwitz’s stability criterion: Explain the corollary of order system

The characteristic of order system :

Necessary condition:
,
Hurwitz matrix: ,

Sufficient condition ,

>0

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