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IEEE TRANSACTIONS ON AUTOMATIC CONTROL, VOL.

AC-26,NO.2.

APRIL

583

198 I

to preserving stability and fully retaining the first k time moments, and is
computationally quite attractive. An example is presented to highlight the
improvement and flexibility offered by the present method.

Row
0

a.

u2

a4

u6

s-I

u,

uj

aj

...

sll-2

bl

b2

...

SI-

..

REFERENCES

M. F. Hutton and B. Fricdland. Routh approximations for reducing order of Linear.


time-invariant systemh. IEEE Truns. Auronwr. Conrr.. vol. AC-20. pp. 329-337. June
1975.
J. Pal. Stablereduced-orderPad6
approximants using the Routh-Hurwitz array,
Elerrron. Len.. vol. 15. pp. 225-226. Apr. 1979.
Y . Shamash.Failure of the Routh-Humitz method of reduction, I Trum.
Auromur. Corn-.. vol. AC-25. pp. 313-314. Apr. 1980.

.. .

NOW,the following algorithm can be used.


1) Shift the contents of the ith row to the left by k columns and put in
the (i+2k)th row. Thus, the first element of the ( i s 2 k ) t h row is
nonzero.
2) Make all the elements o f j t h row ( j = i + 2 , i + 4 , . . . , i + 2 ( k - I ) )
zero.
3) Determine the elements of i + 1, i+3,. . ., i t 2 k - 1 rows by the
On Routh-Hurwitz Criterion
Routh algorithm. Elements of thejth row (j=i+l, i + 3 ; . . , i+2k-I)
are determined from the elements of (j-2)th and ( i i 2 k ) t h row.
KRISHNA J. KHATWANI
4) Arrayelementsfortheremainingrows(j=if2k+l,i+2k+2;..)
A hfruc?-An algorithm for determining the number of roots of a given are determined as usual by considering two rows immediately above.
5 ) The presence of a common polynomial p ( s ) between the odd and
polynomial in the right-half plane and on the imaginary axis with the help
of Routh- Hurwitz array, when the f i fetv, but not all, elements of a row even parts of D ( s ) is indicated by the premature termination of the array.
in Routh array turn out to be zero, is presented. The algorithm is illustrated Say all the elements of the ( p + l)th row turn out to be zero, then the
degree of the common polynomial p ( s ) is n-p and its coefficients are
with the help of an example.
given by the elements of the pth row.
This part of the algorithm, steps 1)-5), is used to determine whether the
I. INTRODUCTION
two polynomials are relatively prime or not and to determine the common
It is well known that Rouths array can be used to determine the polynomial, if they are not prime, by the continued fraction approach
under the special case when the first few elements of a row of the array
number of roots of a given polynomial that have positive real part and
zero real part. The number of roots that lie in the right-half plane (W) developed to obtain a continued fraction expansion turn out to be zero.
equals the number of changes of sign in the first column of the Routh
6) Now, we have to factor out p ( s ) from the polynomials of nth and
table [I], [2]. However, in a special case when the first few, but not all, ( n - l)th degree corresponding to the zeroth and first row of the Routh
elements of a row in the Routh table are zero, the -method may not give table, respectively. This is equivalent to factoring p ( s ) out from the
the correct root distribution in the RHP and on the imaginary axis if the polynomials of degree (n--i+ 1) and (n-2-2k) corresponding to the
polynomial has pure imaginary roots [3], [4]. One way to get the correct (i-1)th and (i+2k)th rows, respectively. The resulting polynomials of
result, when the first few, but not all, elements of a Routh array row are degree ( p - i + 1) and (p--i-2k), respectively, from the first and second
zero, is to check for the existence of imaginary roots; factor out the rows of the modified Routh table. It may be noted that the first k
polynomial corresponding to imaginary roots, if they exist, fromthe
elements of the second row of the modified Routh table would be zero.
polynomial under test; and apply the usual r-method. Recently, Shamash Then the usual r-method can be used to determine the number of changes
[5] has given an algorithmic procedure for determining the polynomial in sign in the first column of modified Routh table and, hence. the
which is common between the odd and even parts of the polynomial number of roots of polynomial D(s)/p(s) in the RHP. Let the number of
under test in the special case when only the first element of a row is zero. such roots be r l . This step is the same as steps 5 ) and 6 ) in Shamashs
This correspondence considers the more general case when the first few, algorithm [ 5 ] .
but not all, elements of a row are zero. Thus, Shamashs algorithm [5] is a
7) Apply the Routh test to the polynomial p ( s ) + p ( s ) , where
special case of the more general algorithm presented here.
11.

ALGORITHM

Consider the polynomial


D ( s ) = Q , s ~ ~ + ~ ~. .~. + a- , ~, - +l s + a , .

(1)

The number of changes in sign in the first column would give the
number of roots o f p ( s ) in the RHP.
Let the number of such roots be r2.
8) Then

Let the number of roots in RHP, left-half plane (LHP), and on the
imaginary axis be denoted by r+ , r- , and r,, respectively.
In order to determine r+ , r- , and r, the Routh array is developed and
we suppose the polynomial under test (1) is such that the first k elements
of the i th row are zero, where

r+ = r l +r2
ro=n-p-2Xr2

r- = n - r , - r + .
The algorithm is illustrated with the help of the following example.

[F

, if ( n - i ) is even
111. EXAMPLE
Let the polynomial being tested be

Manuscript received Octoher 7. 1980.


of Electrical Engineering. College
Goa, Farmagudi. Indla.
The author is with the Department

D(s)=so+s9+6sX+6s7+l9~6+19~5+41~4+40~3+20~2+18~+9
01 Engineering.

When the Routh array is developed, it is found that the first two elements

0018-9286/81/0400-0583$00.75

01981 IEEE

584

IIEI: TRANSACTIONS ON AUTOMATIC CONTROL VOL.

of the second row are zero. Then. using steps 1)-5) the folloning array is
found.
Row f i
0 SI
1
sy
2 s x
3 s7
4 s b
5 s5
6 s 4
7

s3

6
6
0

1
1
o

4
o
2
19
0

19
19
1

41
40
2
18
0

IO 40
0
4
2
0

20
18

[ l ] J. J. DAzzo and C. H. Houpis. Lineur Conrrol s w e m Anu/var und Desyg. New


York: McGraw-Hill. 1975.
(21 K. Ogata. Modern Conrrol Engineering. E n g l e w d Cliffs, KJ:Prentice-Hall. 1970.
[3] T.Chang andC. Chen. On the Routh-Humin criterion. IEEE. Truns. A u r o m r .
Conrr., vol. AC-20. pp. 178- 179. Feb. 1975.
[4] M. V. CRao
and P. V. Rao. Some more comments On the Routh-Hunvitz
criterion. IEEE Truns. Auromar. Conrr.. vol. AC-20. pp. 714-716. Oct. 1975.
[ 5 ] Y . Shamash. Comments on the R o u t h - H m 5 t ~criterion. I E E E Trum. Auromar.
Conrr.. vol. AC-25. pp. 132-133. Feb. 1980.

s. K. PILLAI
0.
A bstraci-The robustness of the e method of the Routh-Hmilz
criterion is explained when a system parameter is of the e order.

Following step 6) of the algorithm modified Routh table is obtained as


follows:

The example given in correspondence [I] about the e method is reexamined and the Routh table is constructed by m d f i i n g the equation.
Consider the polynomial equation given in [I]:
s4

Row :
:
I
2

S5

s4

s3

so

4
2
0
1
2- 1
-

s3
sz
SI

so

s3

-I

-2

SI

(1)

so

-2
E.

2- 1

I.

2
4
9

s4
s2

16

1
4
1
-32
9

-s3 f 2 s - 2 S + = o .

The corresponding Routh array is

-(2e- 1)
4
2-1

The number or changes in sign in the first column of the modified Routh
array. as c + O and, hence. the number of roots of D(s)/p(s)in the RHP
r l . equals 2.
Applying the Routh test to determine the number of zeros of even
polynomialp(s) in the RHP we get
s4

1981

The E Method of the Routh-Hurwitz Criterion

p(s)=s4+22+9

s2

APRIL

REFERENCES

18

The common polynomialp(s) is. therefore.

AC-26.NO. 2.

Where E is a small number replacing the first column zero in the s2-row.
The author of [2] asserts that for c=r>O. (case A) the S I row is - 1 and
there are four sign changes in the first column. For -c=r>O (case B),
the SI-row is - 3 and there are only two sign changes in the first column.
and the method fails. The correct analysis with c tending towards zero and
E not equal to zero is given in [I]. It is assumed that c>O for both cases
A and B. If c = O the problem is a simple one and can be solved readily. If
z issmall and greater than zero, divide ( I ) by c and form the new
Rouths table (3).
s4
s3

sz

I/
-I/

2/

-2/
1

1 -2E

r2 =number of zeros o f p ( s ) in RHP=2.

Hence,

SI

st

I.

For case A . c = c > O , a small positive number (near to zero) in the


si-row becomes positive and there are mo sign changes. For case B.
- c = c > O . which means z is a small negative number. s and s l - r o w
become negative and there are only two sign changes. For E -0 there are

r+ =4
ro = O

r- =6.

IV. CONCLUSION
An algorithm for determining whether two polynomials (one odd and
the other being even) are relatively prime or not is given. This algorithm,
which is based on the continued fraction approach. also gives the common
polynomial and can beused in the special casewhenthe
first few
elements of a rowof an array developed togetthe continued fraction
expansion turnoutto
be zero. This algorithm can be employed to
determine the number of zeros of a given polynomial in the LHP, RHP.
and on the imaginaq axis using the Routh-Hunvitz Criterion under the
special case
when
the first few, but not all, elements of the Routh
array
turn
be zero.

also only two sign changes.


It is shown in this analysis by properly modifying the polynomial
equation that one can get a correct result even if the system parameter is
of the order of c .
REFERENCES
[I]

K. P. White. Jr. Technique fmation and the Routh HUI-S~KCriterion. IEEE Truns.

[2]

Auromr. Conrr.. vol. AC-24. pp. 987-988. Dec. 1979.


V . Sin&. A note on the Routh Hurwitz Criterion. I E E E Truns. .4uromar. Conrr..
vol. AC-23 pp. 83-84. Feb. 1978.

T M h c , l u : ~ h o p : , : ~ ~ ~ ~ ~ ~ ~ ~ ~Space
.,~~,~ndi=n
lndla.

oOI8-9286/81/04oO-O584$00.75 01981 IEEE

Sriharikota,

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