Control Engineering (vMech.

- VTU) 332 Stability of

CControl
Ex. 8.1 Determine the stability of the given characteristic equation by System
Hurwitz's method
F(s) = s3 +s +s +4 = 0 is characteristic equation.
Sol. : an = 1, a1 =1, a, =1, a3 =4, n =3
|1 4 0|
H = a0 a2 a4 1 1
0 |0 1 4|
D, = |1 | =1
|1 4|
D,- = - 3
|1 4 0|
D = 1 1 0= 4 - 16 = - 12
|0 1 4

As D, and D3 are negative, given system is unstable.

8.6.3 Disadvantages of Hurwitz's Method
i) For higher order systems, to solve the determinants of higher order
complicated and time consuming.
iü) Number of roots located in aight half of, s-plane for unstable system canmot.
judged by this method.
iiüi) Difficult to predict marginal stability of the system.
Due to these limitations, a neýy method is suggested by the scientist Routh cal
Routh's method. It is also called Routh-Hurwitz method.
8.7 Routh's Stability Criterion
It is also called Routh's array method or Routh-Hurwitz's Method
Routh suggested a method of tabulating the coefficients of characteristic equation
in a particular way. Tabulation of coefficients gives an array called Routh's array.
Consider the general characteristic equation as,
F(s) = a0 +a1 sn-z 4....... a, =0
Method of forming an array :
ao a4 a
sn-1
as aq
b
s-3
G2

an
 E n g i n e e r i n g
(v"Mech. - VTU) 333 Stability of Control Systems
Control.

Coefficients
for first two rows are written directly from characteristic equation.
row next rows can be obtained as follows.
these two
From

b, = b =

bË = a

F r o mg d
a n d r d row, row can be obtained as

bË a3 - a qb bË as - ajb3
C; =
bË bË
is to be continued till the coefficient for s
is obtained which will
process
This
From this array stability of system can be predicted.
be an
8.7.1 Routh's Criterion

and sufficient condition for system to be stable is AIl the terms

The necessary sign. There should not be any
first column of Routh's array must have same
the
change in the
first column of Routh's array."
sign
existing then,
If there are any sign changes
System is unstable.
a) roots lying in the right half of
The number of sign changes equals the number of
b)
the s-plane.
Routh's method :
Examine the stability of given equations using
=0':
Ex. 8.2 s + 6s +11s +6
an = 1, a1 =6, ag =11, az = 6, n =3
Sol. :
1 11
6 6

H1x6-6 = 10
6
6

As there is no sign change in firsteolumn, system is stable.

Ex. 8.3 s+4s +s +16 = 0
Sol. : an = 1, a1 = 4, ag = 1, ag = 16
1
+ 4. 16
4 -16
4
+ 16

As there are two sign changes, system is unstable.

Number of roots located in the right half of s-plane = number of sign changes = 2
 Control Engineering (v"Mech. - VTU) 334
Stability of Contra
8.8 Special Cases of Routh's Criterion
8.8.1 Special Case 1
First element of any of the rows of Routh's array is Zero
and
row contains at least one non-zero element. he
same rernain
Effect: The terms in the new row becomne infinite and Routh's test
e.g. : s +2s +3s +6s2 + 2s +1 = 0 fails.
1 3 2
2 6 1
1.5 0
Special Case 1
Routh' array failed
Following two methods are used to remove above said difficulty
First method : Substitute a small positive number [ in
as a first element in a row. Complete the array with this place of a zero
lim
number '', Then occur
sign change by taking Consider above example.
&’0

1 3 2
2 6 1
1.5
6 e-3 1

1.5 (6[ - 3)_

(6¬ -3)
1

To examine sign change,

Lim (6[ -3 Lim 3
E’0
6
&’0[
= 6- o
= -0 sign is negative.
Lim 1.5(6[ -3) -e Lim 9[ -4.5-[
&’0 6[ -3 [ ’0 68-3
0-4.5-0
0-3
= + 1.5 sign is positive
 EEngineering
(v"Mech. - VTU) 335 Stability of Control Systems
C o n t r o l

ROuth's array is,

1 3 2
2 6 1
1.5
1
+ 1.5

there
two sign changes, system is unstable.
are
As
Second
method :
To solve the above difficulty one more method can be used. In
by 1/z' in original equation. Taking L.C.M., rearrange characteristic
replace 's'
in descending powers of 'z'. Then coplete the Routh's array with this new
his,
quation

quation in 'z' and examine the stability with this array.

Consider
F(s) = s + 2s* +3s + 6s +2s +1 = 0
1/z
Put
1 2 3 6 2
+ + + + + 1= 0
5
z
4 3 z2 Z

z + 2z* + 6z,3 43z2 +2z+1 = 0

z5 1 2
2 3 1
z3 4.5 1.5
z2 2.33 1
z1 0.429
1

As there are two sign changes,system is unstable. The result is same.

In this book, the method 1 is used to solve the special case 1 of the Routh's array.
method 1, it is not always necessary to find limits of the terms consisting of [ in
efirst column of Routh's array. Just by mere inspection of such terms, remembering
0, the signs of such terms can be predicted.
3.2 Special Case 2
All the elements of a row in a Routh's array are zero.
Effect : The terms of the next row cannot be determined and Routh's test fails
b C

d e f

- RoW of zerOs, Special case 2

1his indicates nonavailablility of coefficient in that row.
Control Engineering (v"Mech, -VTU) 336
Stability of
[Link] Procedure to Eliminate this Difficulty
i) Form an equation by using the coefficients of a roOW
of zeros. Such an equation is called an which is
above case such an equation is, Auxiliary Equation
A(s) = ds + es +f denoted A
Key point : The coefficients of any row are
starting from the pover indicated against it. corresponding to aternate
So 'd' is coefficient corresponding to s* SO first
term is ds of
Next coefficient 'e' is corresponding to alternate A(s).
the term es and so on. power of 's
from 4 ie,
ii) Take the derivative of an auxilary
equation with respect to 's
i.e. dA(s) = 4d s° +2e s
ds

iii, Replace row of zeros by the coefficients of dA(s)

ds
b C

d f

4d 2e
iv) Complete the array interms of these new
coefficients.
[Link] Importance of an Auxiliary Equation
Auxiliary equation is always the part of the original characteristic
means the roots of the equatiot
auxiliary equation are some of the roots of on
characteristic equation. Not only this but the roots of auxiliary
dominant roots of the original characteristic equation, from equation are tie
view. the stabuity p
Key point : The stability can be predicted from the roots of A(s) = 0 rather thanth
of characteristic equation as the roots of A(s) = 0 are the most dominant fromthe st
point of view. The remaining roots of the characteristic equation are always intheletk
they do not play any significant role in the
stability equation
e.g. Let F(s) = 0 is the original characteristic analysis. of say order n =5.

Let A(s) = 0 be the auxiliary equation for the System due to occurrence
case 2 of the order mn = 2.
D m

Then out of 5 roots of F(s) = 0, the m o s t dominant

2 roots which are

means very cose to imaginary axis or on the axis or
in the remainiy

S-plane) from the stability point of view are the 2imaginary The
willbelar
A(s) = 0.
5-2 = 3roots are not significant roots of
view as they
from the imaginary axis in the left from stability point of
half of s-plane.
 E n g i n e e r i n g
(vMech. - VTU) 337 Stability of Control Systems
Control

roots
of auxiliary equation may be,
The
of real
roots of opposite sign i.e. as shown in the Fig. 8.10 (a).
pair
A
)

Fig. 8.10(a) Fig. 8.10(b)

roots located on the imaginary axis as shown in the Fig. 8.10 (b).
i) Apair of
nonrepeated pairs of roots located on the imaginary axis as shown in the
i) The
Fig. 8.10 (c).

jo

XX repeated

XD

Fig. 8.10(c) Fig. 8.10(d)

) The repeated pairs of roots located on the imaginary axis as shown in the
Fig. 8.10 (d).
Hence total stability can be determined from the roots of A(s) = 0, which can be
ut of four types shown above.
3.2.3 Change in Criterion of Stability in Special Case 2
alter replacing a row of zeros by the coefficients of dA(s) complete the Routh's array.
ds
But nnow, the criterion that,
nger remains sufficient no sign change in1" column of array for stability, no
but becomes a necessary. This is because though A(s) is a
at of orginial characteristic dA(s)
equation, ds is not, which is infact used to complete
array.
So if sign
anges equal Change
to
occurs in first column, system is unstable with number of sign
plane. number of roots of characteristic equation located in right half of
 338
Control Engineering (v"Mech. VTU) Stability of Control
cannot be
Key point : But if there is n0 sign change, systen
such case stability is to be determined by actually solving A(s) = 0predicted as
for its roots.
locations of roots of A(s) = 0in the S-plane the
system stability must be
stable. And
roots A(s)=0are alvays dominant roots of characteristic eguation. determined. Becau
8.9 Applications of Routh's Criterion
8.9.1 Relative Stability Analysis
imaginary
If it is required to find relative stability of
system about a line s = -o. 0.e. how many roots are
located in right half of this line s =- G, the Routh's
method can be used effectively.
To determine this from Routh's array, shift the
axis of S-plane and then apply Routh array i.e.
substitute s = s-o, (o = constant) in characteristic
equation. Write polynomial in terms of s'. Complete S-plane
array from this new equation. The number of sign
changes in first column is equal to number of roots
those are located to right of the vertical line s = - . Fig. 8.11
Key point : Instead of variable s', any other variable
may be used. Thus if zis new variable then s must be replaced by z - in the equation
8.9.2 Determining Range of Values of K
In practical system, an amplifier of variable R(s) Cls
gain K is introduced as shown in the Fig. 8.12. G(s)

The closed loop trarnsfer function is

H(s)
C(s) KG(s)
R(s) 1+ KG(s) H(s) Fig. 8.12
Hence the characteristic equation is
F(s) = 1 + KG(s) H(s) = 0
selection
So the locations of roots of the above equation are dependent on the proper
of value of `K.
Routh's ato
So unknown 'K appears in the characteristic equation. In such case
be obtaine
is to be constructed in terms of K and then the range of values of K can
column of
th
in such a way that it will not produce any sign change in the first absolute
of K for
Routh's Array. Hence it is possible to obtain the range of values stability depe
stability of the system using Routh's Criterion. Such a System where
on the condition of parameter K, is called conditionaly stable system.
8.10 Advantages of Routh's Criterion
Advantages of Routh's Array method are : the charactets

i) Stability of the system can be judged without actually solving

equation.
 (v"Mech. - VTU) 339
Stability of Control Systems
Engineering

Control
of which saves calculation time.
determinants,
evaluation
number of roots of characteristic
No
unstable
system it gives equation having
positive r e a l p a r t .
For
i)
stability of the system can be easily judged.
i) Relative

this criterion, critical value of system gain can be determined hence

Bv
using

of
sustained oscillations can be determined.
)
range of values of K for system stability.
frequency

in finding
out
helps
It out intersection points of root locus with imaginary axis.
i)
in finding
helps

vii) It
L i m i t a t i o n s of Routh's Criterion
8.11
valid only for real coefficients of the characteristic equation.
Itis
il
does not provide
exact locations of the closed loop poles in left or right half of
ii) It
splane.
does not suggest methods of stabilising an unstable system.
iü) It
Applicable only to linear systems.
iv)
Examples with Solutions

Criterion :
Examine the Stability By Routh's
0
Ex 8.4 5 + 6s + 26s + 56s + 80 =
Sol. :
1 26 80
6 56
16.66 80
27.21
80

As there is no sign change, system is stable.

Special cases :
Ex. 8.5 s -4s +s+6= 0, State how many roots are in right half of S-plane.
Sol.: As one coefficient
is negative, system is unstable.
but to
find how
many roots are in R.H.S of s-plane construct Routh's array.
1
- 4 6
2.5
6
n changes. So two rOots are in right half of
s-plane
 VTU) 340
Control Engineering (v"Mech. - Stability of
Ex, 8.6 +s +25 +2s +3s +15 = 0
Sol. :
1 2
1 2 15
0 - 12

Replace 0 by small positive number [

1 2
3
1 2
15
-12
2[ + 12 15

28 +12
(-12) -15[
26 +12

15
Lim 2: +12
= 2+== +0
&’0

Lim (2e+12)(-12)-158 Lim -24[ -144 -152

E’0 2[+ 12 E’0 2: + 12

0-144 - 0
=- 12
0+12
1 2 3
2 15
-12 0
+ oo 15 There are two sign
-12 changes, So system is
unstable
15

Ex. 8.8 s +5s° +2s* +3s +1= 0

Sol. :
1 5 1
2 3
0
Row of zeros
A(s) = s +5s +2s +3s +1=0
dA
ds
8s +30s +85 +6s
 (v"Mech. - VTU) 341 Stability of Control Systems
Engineering

C o n t r o l

1 5 2 3 1

8 30 8 6 0

1.25 1 2.25 1 0

23.6 -6.4 -0.4

There are two sign
1.33 2.271 1 0
changes so
46.6 - 18.14 system is unstable.
Two roots are in
1.75 1 0
R.H.S.
8.45
1

+ 4g5. +35 -16s -64s- 48 = 0 Find the number of roots of this equation with
Ex. 8.7
s
n0sitive real part, zero real part and negative
real part.

Sol. : - 48
,6 1 3 - 16
4 64
3 48

3 ,0
dA = 12 3
A(s) = 3s -48= 0
ds
1 3 - 16 - 48
0 64
3 - 48
12
48
[e]0
576

48

Lim 576 + 0

one root in R.H.S. of

. Ohe sign change and system is unstable . Thus there is
roots.
Splane i.e. with positive real part. Now solve A(s) = 0 for the clominant
A(s) = 3s* -48 = 0
Put
3y2 = 48 y= 16, .. y = tW16 = t4
s- = + 4 $² = -4
S s = ±2j
=t2

So s = t 2 are the two roots on imaginary axis i.e. with zero real part. Root in
RHS. indicated by asign change is s = + 2as obtained by solving A(s) = 0. Total
here are 6 roots
as n = 6.
Roots with positive real part = 1
Control Engineering (V"Mech. - VTU) 342

Roots with zero real part = 2

Stability of Control
Roots with negative real part = 6- 2 - 1=3
Ex. 8.8 Fìnd range of values of K so that
system with the
Sol. :
will be stable. F(s) = s (s + s + 1) (s + 4) +
3
K=0 following characterisic
F(s) = s (s + 5s +5s +4]+K=0 equati
+ 5s3 + 5s + 4s+ K=
0
5 K
5 4
4.2 K

16.8 5K
4.2
K
For system to be stable there should not be
sign change in the first
K> 0 from sO column.
and 16.8 - 5K > 0 from s1
16.8 > 5K 3.36 > K .:. K< 3.36
Range of Kis 0 <K< 3.36
Ex. 8.9 For a system with
characteristic equation
F(s) =s +355 + 4s +6s + 5s + 3s+ 2 = 0,
Sol. :
examine stability.

1 4 2
3 6 3
2 4 2

Row of zeros
A(s) = 2s +4s2 +2 = 0 i.e. s +2s +1 = 0
dA(s) = 4s + 4s
ds
1 4 5 2
3 6 3
2 4 2
4 4
2 2

Row of zeros again

A'(s) = 2s +2= 0
dA'(s) = 4s =0
ds
 E n g i n e e r i n g
(vMech. - VTU) 343 Stability of Control Systems
Control
1 4 6 2
3 6 3
2 4 2 0
4 0
2 2 0
4 0 0
2 0

change,
hence is located in [Link]. of s-plane. As row of zeros
no root
No sign unstable To
mar8naly stable or imaginary
system may De auxiliary equation.
o that find the roots of first
-2 +/4-4
2s +1 =0 =. = -1
Als) = s +

-j
_² =-1, S1,2 =tj, S3,4 = tj
$² =-1,
solve second auxiliary
he roots of A'(s) = 0are the roots of A(s) = 0. So do not
Predict the stability from the nature of roots of first auxiliary equation.
equation.

As there are repeated roots on imaginary axis, system

is unstable.
systemis
Fx, 8.10 The open loop transfer function of a feedback
K(s+ 5)
Gs) H(s) =
s(1+ Ts) (1+ 2s)
and T on
Parameters K and T are represented on a pane with K on x axis

Determine rcgion in which a closed loop system is stable.

Sol. :The characteristic equation of the system is
1+ G(s) H(s) = 0
K(s+ 5) = 0
1+
s(1+ Ts) (1+ 2s)
s(1 + Ts) (1 + 2s) + K(s + 5) = 0
s(2Ts + (T+ 2)s+ 1) + K(s + 5) = 0
2Ts + (T+2) s + s(K + 1)+ 5K = 0
Routh's array is
2T K+ 1

(T + 2) 5K
(T+ 2) (K+ 1)- 2Tx 5K
(T+ 2)
5K
From last row 5K > 0
Kmust be
positive.
Control Engineering (V"Mech. - VTU) 344

From row of s Stability of

(T + 2) (K + 1) 10KT > 0
KT + 2K + T + 2 - 10KT > 0
2K + T+ 2 9KT > 0
Limiting value is
2K + T + 2- 9KT > 0
1.e. K< 2+T
9T- 2
Region in which a closed loop system is stable is

Unstable 2 +T Considering
values
positive
9T - 2 of K and

Stable Unstable

Unstable 0.1 0.2 0.3 0.4 0.5 0.6 0.7

Solved Problems from VTU Papers

Ex. 8.11 Find range of values of K so that system with the following
characteristic equai
will be stable. F(s) = s(s + s + 1) (s + 4) + K= 0 (LCS-E&E, Aug-20
Sol. : F(s) = s [s3 + 5s +5s +4]+ K= 0
= s + 5s+ 5s + 4s+ K= 0
1 5 K
5 4

4.2 K

16.8 5K
4.2
K
For system to be stable there should not be sign change in the first column.

K> 0 from sO
and 16.8 5K > 0 from s'
 Engineering
(vMech. - VTU) 345 Stability of Control Systems
C o n t r o l ,

16.8 > 5K 3.36 > K ..K< 3.36

0 < K<3.36
Range oof K is
.: feedback system,
8.12 For unity K
Ex.
G(s) = find range of values of K, marginal value of Kand
s(1+ 0.4s) (1+ 0.25 s)
frequency sustained oscillations. (CE-E&C, Aug.-2002)
Characteristic equation,
1+ G(s)H(s) = 0 and H(s) =1
Sol.: K
=0
1+ 0.25 s)
s(1+0.4s) (1+

s|1 +0.65 s + 0.1s] + K

=0
0.1s+ 0.65s + s+ K = 0
0.1 1 from s K>0
0.65 K from s'.
[Link] 0.65 0.1K > 0
0.65 ..0.65 > 0.1 K
K 6.5 > K

K<6.5
.:. Range of values of K, 0<
Now marginal value of K is that value of K for which system becomes
marginally stable system there must be a row of zeros
narginally stable. For a
-ccurring in Routh's array. So value of K which makes any row of Routh array as
bw of zeros is called Marginal value of K. Now K 0makes row of s as row of
eros but K =0 can not be marginal value because for K =0, constant term in
naracteristic equation becomes zero i.e. one coefficient for s vanishes which makes
stem unstable instead of marginally stable.
Hence marginal value of K is a value which makes any row other than s as row
zeros.

0.65 - 0.1 Kmar = 0

Kmar = 6.5
lofind frequency, find out roots of auxiliary equation at marginal value of 'K.
A(s) = 0.65 s +K- 0;
0.65 s + 6.5 = 0 : K= 6.5
s = -10
s = tj 3.162
Comparing with
frequency of oscillations = 3.162 rad/sec
Control Engineering (v"Mech. - VTU) 346
Stability of
E. S.13 A gien sustem oscillates vitlh frequency 2 rad/sec.
No poles are in R.H.S. (CE-E&C, Aug.-2001, Find values Contro Syi
March-2002, LCS-E&Fmr of
and
K (s + 1)
2
S + ps +2s + 1

Sol. : As system oscillates, it is marginally stable

and
marginal value of K. As system is marginally stablevalue of K
there must at be this
OCcurring in Routh's array. be roW
Of ZerO
situation
Characteristic equation is given by,
1+
K (s+1)
3
= 0
s°+ ps + 2s +1
+ ps + (2+ K) s+ (1+ K) = 0
1 2 + K
p 1+ K
s' (2+ K) p- (1+K)

1 + K
At marginal value of K
(2 + K) p- (1 + K) = 0
(2 + K) p = (K + 1)
K+1
p =
K+2
Now at this value,
A(s) = Ps?.+K+1= 0
(K+1) K+1
S=tj

Compare with s=tjo and frequency o is given as 2.

K+1 = 2
P
K+1 = 4
P
K+1 .. (2
p=
4
 Engineering
(v'Mech. - VTU) 347 Stability of Control Systems
C o n t r o l .

K+1 K+1
K+2 4

4 = K +2 .. Kmar = 2
Kmar +1 = 0.75
p =
4 4

8.14 The open loop transfer function of a unity fedback system is given by,
CÀ. K
G(s)
s(1 +sT) (1+sT)
Derive an expression for gain K interms ofT and T, for the stability of the system.
(April-96)
equation is,
Sol. : The characteristic
1+ G(s) H(s) = 0
K
1+
s(1+sT)(1+ sTz)
T,I,s' +s(T, +T;)+s+K = 0
The Routh's array is
1

(4+ h)-KHh 0
(4+ 7z)
K

From s K>0

From s', (T +T;)- KTT >0

T +T, > KT{l;
K<
1,1
+

So
is the range of K for stability.
Ex. 8.15 s+285 +85 + 126+20s+16s+ 16 =0
(CE-E&C, Aug.-2003, LCS-E&E, Aug.-2003)
Gol.:
1 8 20 16

2 12 16 0

2 12 16 0

Row of zeros
Control Engineering (v"'Mech. VTU) 348
Stablity of Contro
A(s) = 2s +126 +16 = 0
dA
8s+24s = 0
ds
20
16
2 12 16
0
2 12 16
0
8 24
6 16 0
2.67 0
16

No sign change, so system may be stable. But

as
be (i) marginally stable or (i) nstable. To examine thisthere is row of zevs
solve A(s)-0
25 +12s+16 = 0
s+6s +8 = 0
Put
2
y+6y +8 = 0
y = -6+ V36-32
2

= -3+1=-2, - 4
s = -2 and s = -4
s = tN2 and s =#j2
Nonrepeated roots on imaginary axis. Hence system is marginally stable.
Ex. 8.16 Find the range of K for which the system, whose characteristic equation
s
below, is stable.
F(s) = s + (K + 0.5)s + 4 Ks +50 = 0 (Aug
Sol. : The Routh's array for the equation is,
1 4K
K+0.5 50
(K+0.5) 4K- 50
(K+0.5)
50
From row of s K+ 0.5 >0
K>-0.5
From rowof s'
(K + 0.5) 4K - 50 >0
 Systems
Stability of Control
349
(v'Mech. - VTU)
Engineering

>0
4K + 2K - 50
2K' + K - 25 > 0
-1t(1 +25x4x 2
K=
2x2
can write,
3.2943, -3.7943, hence we
are
values of the roots
3.7943) > 0
= (K- 3.2943) (K +
K> 3.2943 and
K> - 3.7943
stability is,
of values of Kfor the system
the ultimate
range
ce 3.2943 < K<o
determine the range of
K
Fig, below,
cosed-loop feedback
system shoun in oscillation.
- Fx the also the frequency of sustained
stable and
for zohich the system is
(CE-E&C March-2001)

K C(s)
R(S)
s(s +s+ 1)\(s +4)

he characteristics equation is,

1+ G(s) H(s) = 0
K = 0
1+
s(s +s+1) (s +4)
2
K= 0
s [s + 5s +5s + 4] +
S+5s°+ 5s + 4s + K = 0

th's array is,

4 5 K
3
5 4 0
2/ K
4.2

16.8-5K
S
4.2
K
ns, K>0
n s, 16.8 - 5K > 0
16.8 > 5K
 E n g i n e e r i n g
(v"Mech. - VTU) 353 Stability of Control Systems

to have all the roots of acharacteristic equationin the left

ontrol

conditions
necessary
are the
What
4
0alfof s-plane2.
special Icases of Routh's criterion.
note on
Write a
an. Auxiliaryequation.
Explain the significance of
6
Routh's
criterion can be used to studythe relative stability?
How
7,
and limitation of Routh's method.
State the advantages
8.
characteristic polynomial ofa system is
9 The
s ++ 6s +15s +30s + 44s+ 24 (Ans. : Marginally stable, o= 2rad/sec)
Pls)=
Determnine the. stability ofasystem with characteristic equation.
10.
4=0
S+ 4s + 2s + 8s + s+
(Ans. : Unstable, Multiple roots on imaginary axis at t)
following system.
11. Deternmine the range of Kfor stability of the

R(s) K(s+ 1) C(s)

2
s (s +2) (s +8)

1+ 2s

(Ans. : 0 <K<o)
12. For K= 2, determine whether the following unity feedback system is stable. Use Routh criterion.
G(s) =
K(1+ 2s) (1+ 4s)
stis +25+ 10) (Ans. : stable)
13. Apply Routh criterion to check the stability of

s+9 +20s + 12s +8s+ 16s +16= 0 (Ans. : Unstable, 2 sign changes)
[Link] the range of Kfor stability ofs+ 2s + 2s+(3+ K)s+ K= 0,for K>0
(Ans. : 0 <K<0.464)

15. Determine the range of Kfor stability +2s +3s +4s' +K(s+ 1)+ s+ 5=0
(Ans. : No real value of K makes the system stable)
16. Find the (Ans. : 0 <K<390)
range offKfor whichhsystem given below is stable.
R(s) K C(s)
s (s+3) (s + 10)
Control Engineering (v"Mech. - VTU) 354
1 ForaSwstrm having characteristic equation.
Stability of
s' 10s (50+ A)s + K=0

Determine the stability boundary for stability by plotting Aon

x-axis and
Kon y-axis
(Ans. : K> 0, K=500 + 10A) 500
Unstable
Stable
-50
18. Open loop transfer function of aunity feedback system is
K
G(s) =
s(s + s+ 1) (s+ 2)

Find the range of Kfor stability. For what value of Ksysten vill
oscillations? (Ans. : 0 < K < 1.55, oscillate and ohat t
Keritical = 1.55, ois =frequency of
19. By means of Routh's criterion, deternine stability of 0,816 rad
a) s+ 5s + 10s + 24s + 20s + 15s+ 10 =0
b) s + s' -3s -st+2
(Ans. : (a) unstable
20. Determine the range of value of K(K> 0) (b) ung
such that the characteristic equation.
s + 3(K+1)s + (7K+5)s+ (4K+7) =
0has roots more negative that s =-1.

(Ans. : 0.5275 <K

21. For a unity feedback system,
G(s) = K(s+ 10) (s +20)
t(s+ 2)
ApplyRouth's criterion and find range of values ofKfor
frequency of oscillations. stability. Find marginal Kand correspon
(Ans. : 4.67 <K<a,