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Matthew M. Peet
Illinois Institute of Technology
Overview
M. Peet
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A Stability Test
We know that for a system with Transfer function (s) = n(s) G d(s) Input-Output Stability implies that all roots of d(s) are in the Left Half-Plane
All have negative real part.
Im(s) CRHP
Re(s)
Question: How do we determine if all roots of d(s) have negative real part? Example: s2 + s + 1 (s) = G s4 + 2s3 + 3s2 + s + 1
M. Peet
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A Stability Test
Another Variation
Determining stability is not that hard (Matlab). Now suppose we add feedback: (s) = k Controller: Static Gain: K
x1
Closed Loop Transfer Function: y (s) = (s)K (s) G u (s) (s)K (s) 1+G
mc
x2 mw u
Closed Loop Transfer Function: k (s2 + s + 1) s4 + 2s3 + (3 + k )s2 + (1 + k )s + (1 + k ) We know that increasing the gain reduces steady-state error. But how high can we go? What is the maximum value of k for which we have stability?
M. Peet Lecture 10: Control Systems 4 / 28
A Stability Test
Suppose we are given a polynomial denominator d(s) = sn + an1 sn1 + + a0 Fact:
n(s) d(s)
Question: How to determine if any roots of a(s) have negative real part Simple Case All Real Roots. Suppose all the roots of d(s) had negative real parts. d(s) = (s p1 )(s p2 ) (s pn ) Observe what happens as we expand out the roots: d(s) = (s p1 )(s p2 )(s p3 )(s p4 ) (s pn ) = (s2 (p1 + p2 )s + p1 p2 )(s p3 )(s p4 ) (s pn ) = = sn (p1 + p2 + + pn )sn1 + (p1 p2 + p1 p3 + )sn2 (p1 p2 p3 + p1 p2 p4 + )sn3 + + (1)n p1 p2 pn
M. Peet Lecture 10: Control Systems 5 / 28
A Stability Test
So if we write d(s) = sn + an1 sn1 + + a0 we get an1 = (p1 + p2 + + pn ) an2 = (p1 p2 + ) an3 = (p1 p2 p3 + ) Critical Point: If d(s) is stable, all the pi are negative. an1 = (p1 + p2 + + pn ) > 0 an2 = (p1 p2 + ) > 0 an3 = (p1 p2 p3 + ) > 0 Conclusion: All the coecients of d(s) are positive!!! Also true if the pi are complex
Harder to show. If any coecient is negative, d(s) is unstable. Note! If all ai are positive, that proves nothing.
M. Peet Lecture 10: Control Systems 6 / 28
mc
x2 mw u
Examine the denominator: d(s) = s4 + 2s3 + (3 + k )s2 + (1 + k )s + (1 + k ) All coecients are positive for all positive k > 0
s3
s2
1 +s+2
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Rouths Method
Introduced in 1874
Generalizes the previous method Introduces additional combinations
of coecients
Based on Sturms theorem.
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Rouths Method
Step 2
Write the coecients in 2 rows First row starts with an Second row starts with an1 Other coecients alternate between rows Both rows should be same length
Continue until no coecients are left Add zero as last coecient if necessary
M. Peet
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Rouths Method
Step 3
det b1 =
a4 a2 a3 a1 a3
det b2 =
a4 a0 a3 0 a3
det b3 =
a4 a3 a3
0 0
The denominator is the rst entry from the previous row. The numerator is the determinant of the entries from the previous two
rows:
The rst column The next column following the coecient det bk = an an2k an1 an2k1 an1
Rouths Method
Step 4
Treat each following row in the same way as the third row
There should be n + 1 rows total, including the rst row.
M. Peet Lecture 10: Control Systems 12 / 28
Rouths Method
Step 4
Theorem 1.
The number of sign changes in the rst column of the Routh table equals the number of roots of the polynomial in the Closed Right Half-Plane (CRHP). Note: Any row can be multiplied by any positive constant without changing the result.
M. Peet Lecture 10: Control Systems 13 / 28
Rouths Method
Numerical Example
To improve performance, we close the loop with a gain of 1000 (s) = 1000 Controller: K
The Closed-Loop Transfer Function is 1000 s3 + 10s2 + 31s + 1030 Question: Have we destabilized the system?
M. Peet Lecture 10: Control Systems 14 / 28
Rouths Method
Numerical Example
We divide the second row by 10 There are two sign changes: 1 72 and 72 103 Two poles in the CRHP.
Feedback is Destabilizing!
M. Peet
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mw u
1 2 b1
3+k 1+k b2
1+k 0 b3
1 2 2 1 2
3+k 1+k
1 (5 + k ) 2
=1+k
1 2
1 2 (5 c1
+ k)
1+k 0 0 0
1 2 (5 + k ) 1 1 2 (5 + k )
1+k +k
k 2 + 2k + 1 5+k
d1
1+k 0 0 0 0
1+k 0
=k+1 1+k 0 0 0 0
1+k
Conclusion: No matter what k > 0 is, the rst column is always positive. No sign changes for any k . Stable for any k . Well nd out why later on. Feedback CANNOT destabilize the suspension system.
M. Peet Lecture 10: Control Systems 19 / 28
Stability of Quadratics
What about a simple second-order system?
Amplitude Impulse Response 2.5 2
1 s2 + bs + c We know the poles are at p1,2 = b Calculate det The Routh table is s2 s 1 1 b c c 0 0 0 0 0 1 b b c 0 = b2 4c
6 Time (sec)
10
12
bc =c b
= c 0
c a c a
c a
Rouths Method
Numerical Example, Revisited
Now lets look at the previous example to determine the maximum gain: We have the stable transfer function (s) = G 1 (s + 2)(s + 3)(s + 5)
The Closed-Loop Transfer Function is k s3 + 10s2 + 31s + 30 + k But this is a third order system!
M. Peet Lecture 10: Control Systems 22 / 28
Rouths Method
Numerical Example, Revisited
k+30 10
or
Which is problematic. Note: If there is a zero in the rst column, the system is only marginally stable
Small changes in the coecients lead to instability.
M. Peet Lecture 10: Control Systems 24 / 28
M. Peet
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1 2 0 4 12 12
10 +72 12
2
2 4 6 6
10
11 10 0 0 0 0 0 0 0
10 0 0 0
6 10
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Which is even more problematic - the whole row is zero. We wont cover this case.
However, it can be done - see book.
M. Peet Lecture 10: Control Systems 27 / 28
Summary
What have we learned today? The Routh-Hurwitz Stability Criterion:
Determine whether a system is stable. An easy way to make sure feedback isnt destabilizing Construct the Routh Table
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