System Stability (Special Cases) Date: 11 th September 2008 Prepared by: Megat Syahirul Amin bin Megat Ali
Introduction Zero Only in First Column Zero for Entire Column Stability via Routh Hurwitz
Routh-Hurwitz Stability Criterion: The number of roots of the polynomial that are in the right half-plane is equal to the number of changes in the first column. Systems with the transfer function having all poles in the LHP is stable. Hence, we can conclude that a system is stable if there is no change of sign in the first column of its Routh table. Two special cases exists when: i. There exists zero only in the first column. ii. The entire row is zero.
Routh-Hurwitz Stability Criterion: The number of roots of the polynomial that are in the right half-plane is equal to the number of changes in the first column. Systems with the transfer function having all poles in the LHP is stable. Hence, we can conclude that a system is stable if there is no change of sign in the first column of its Routh table. Two special cases exists when: i. There exists zero only in the first column. ii. The entire row is zero.
Exercise: For the following closed-loop transfer function T(s), determine the number of poles that exist on RHP.
If the first element of a row is zero, division by zero would be required to form the next row. To avoid this, an epsilon, , is assigned to replace the zero in the first column. Example: Consider the following closed-loop transfer function T(s).
To determine the system stability, sign changes were observed after substituting with a very small positive number or alternatively a very small negative number.
Exercise: For the following closed-loop transfer function T(s), determine the number of poles that exist on RHP.
An entire row of zeros will appear in the Routh table when a purely even or purely odd polynomial is a factor of the original polynomial. Example: s 4 + 5s has an even powers of s. Even polynomials have roots that are symmetrical about the origin. i. Roots are symmetrical & real ii. Roots are symmetrical & imaginary iii. Roots are quadrantal
Example: Differentiate with respect to s:
Example:How many poles are on RHP, LHP and jω-axis for the closed-loop system below?
Exercise: For the following closed-loop transfer function T(s), determine the number of poles that exist on RHP, LHP and the jω-axis
Example: Find the range of gain K for the system below that will cause the system to be stable, unstable and marginally stable, Assume K > 0. Closed-loop transfer function:
Example: Find the range of gain K for the system below that will cause the system to be stable, unstable and marginally stable, Assume K > 0. Forming the Routh table:
Example: Find the range of gain K for the system below that will cause the system to be stable, unstable and marginally stable, Assume K > 0. If K < 1386: All the terms in 1 st column will be positive and since there are no sign changes, the system will have 3 poles in the left-half plane and are stable. If K > 1386: The s 1 in the first column is negative. There are 2 sign changes, indicating that the system has two right-half-plane poles and one left-half plane pole, which make the system unstable.
Example: Find the range of gain K for the system below that will cause the system to be stable, unstable and marginally stable, Assume K > 0. If K = 1386: The entire row of zeros, which signify the existence of jω poles. Returning to the s 2 row and replacing K with 1386, so we have: P(s)=18s
Chapter 6 i. Nise N.S. (2004). Control System Engineering (4th Ed), John Wiley & Sons. ii. Dorf R.C., Bishop R.H. (2001). Modern Control Systems (9th Ed), Prentice Hall.
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