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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
.. .
ALGORITHM
(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
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
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
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.
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 .
-(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
p(s)=s4+22+9
s2
APRIL
REFERENCES
18
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
Hence,
SI
st
I.
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.
K. P. White. Jr. Technique fmation and the Routh HUI-S~KCriterion. IEEE Truns.
[2]
T M h c , l u : ~ h o p : , : ~ ~ ~ ~ ~ ~ ~ ~ ~Space
.,~~,~ndi=n
lndla.
Sriharikota,