Exercise 7 - Stability Analysis - Solutions

EE4107 - Cybernetics Advanced
Exercise 7: Stability Analysis (Solutions)

A dynamic system has one of the following stability properties:
Asymptotically stable system

Marginally stable system
Unstable system
Below we see the behavior of these 3 different systems after an impulse:
Asymptotically stable system:
( )
Marginally stable system:
( )
Unstable system:
( )
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Poles
The poles is important when analysis the stability of a system. The figure below gives an overview of
the poles impact on the stability of a system:
Thus, we have the following:
Asymptotically stable system:
Each of the poles of the transfer function lies strictly in the left half
plane (has strictly negative real part).
Marginally stable system:
One or more poles lies on the imaginary axis (have real part equal to
zero), and all these poles are distinct. Besides, no poles lie in the right
half plane.
Unstable system:
At least one pole lies in the right half plane (has real part greater than
zero).
Or: There are multiple and coincident poles on the imaginary axis.
Example: double integrator ( )

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Feedback Systems
Below we see a typical feedback system:
Where we have the following transfer functions:
Where
( ) is the Controller transfer function
( ) is the Process transfer function
( ) is the Measurement (sensor) transfer function
Here are some important transfer functions to determine the stability of a feedback system:
Loop Transfer function

The Loop transfer function ( ) (Norwegian: Slyfetransferfunksjonen) is defined as follows:
( ) ( ) ( ) ( )
Tracking transfer function

The Tracking transfer function ( ) (Norwegian: Flgeforholdet) is defined as follows:

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( ) ( )
( ) ( )
( ) ( )
Sensitivity transfer function

The Sensitivity transfer function ( ) (Norwegian: Sensitivitetsfunksjonen/avviksforholdet) is
defined as follows:
( )
( ) ( )
( ) ( )
Characteristic Polynomial
We have that:
( )
( )
( )
And:
( )
( ) ( ) ( ) ( )
( )
( ) ( ) ( ) ( ) ( )
( )
Where ( ) and ( ) numerator and the denominator of the Loop transfer function ( ).
The characteristic polynomial for the control system (tracking function) is defined as:
( ) ( ) ( )
The stability of the control system is determined by the placement of the roots of the characteristic
polynomial in the complex plane.
Task 1: Stability Analysis

Given the following transfer functions:
( )
( )
( )
( )

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Task 1.1
Pen and paper: What are the poles for the different transfer functions above? Plot the poles in the
imaginary plane. What are the stability properties of these systems (asymptotically stable system,
marginally stable system or unstable system)?
Discuss the results.
Task 1.2
Do the same using MathScript.
Tip! Use the built-in functions poles and pzgraph.
Task 1.3
Plot the impulse responses of these systems using MathScript. Are they as expected?
Tip! Use the built-in function impulse, which is similar to the step function we have used before.
Solutions for Task 1.1-1.3:
1. Given the following transfer function:
( )
Note! This is a transfer function of 1.order system.
1 - Poles:
Pen and paper MathScript for this system
We have the following pole:

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The pole of the transfer function lies strictly in the left half plane (has strictly negative real part).
This means this is an asymptotically stable system.
2 - MathScript Code:
clear
clc
% Define Transfer Function

num = [1];
den = [1, 1];
H = tf(num, den)
% Poles
poles(H)
figure(2)
pzgraph(H)
% Impulse Response
figure(1)
impulse(H);
3 - Impulse Response:
Theory MathScript for this system
We see that:
( )
This means this is an asymptotically stable system.

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( )
Note! This is a transfer function of an integrator.
1 - Poles:
The pole lies on the imaginary axis (have real part equal to zero). Besides, no poles lie in the right half
plane.
Marginally stable system
clear
clc

num = [1];
den = [1, 0];
H = tf(num, den)
% Poles
poles(H)
figure(2)
pzgraph(H)
% Impulse Response
figure(1)
impulse(H);

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We see that:
( )
This means this is a marginally stable system.
( )
Note! This is a transfer function of a double integrator.
1 - Poles:
Pen and Paper MathScript for this system
We have the following poles:

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At least one pole lies in the right half plane (has real part greater than zero). Or: There are multiple
poles on the imaginary axis.
This means this is an unstable system.
clear
clc

num = [1];
den = [1, 0, 0];
H = tf(num, den)
% Poles
poles(H)
figure(2)
pzgraph(H)
% Impulse Response
figure(1)
impulse(H);
We see that:
( )
( )
1 - Poles:

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At least one pole lies in the right half plane (has real part greater than zero).
clear
clc

num = [1];
den = [1, -1];
H = tf(num, den)
% Poles
poles(H)
figure(2)
pzgraph(H)
% Impulse Response
figure(1)
impulse(H);

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We see that:
( )
Task 2: Stability Analysis of Feedback systems

Given the following feedback system:
The transfer function for the process is:
( )
( )
The transfer function for the measurement/sensor is:
( )

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The transfer function for the controller is:
( )
We shall use 3 different values for :
Task 2.1
Find ( ), ( ) and ( ) for the system (both pen and paper and in MathScript).
Tip! In MathScript we can use the series and feedback functions in order to find ( ) and ( ).
Task 2.2
Plot the step response for the feedback system ( ( )).
Task 2.3
Find the poles and plot the poles in the imaginary plane for the feedback system ( ( )).
Is the system asymptotically stable, marginally stable system or unstable (for the 3 different values of
)?
Solutions for 2.1-2.3:
1. The Loop transfer function ( ) (Norwegian: Slyfetransferfunksjonen) is defined as follows:
( ) ( ) ( ) ( )
Where
( ) is the Controller transfer function
( ) is the Process transfer function
( ) is the Measurement (sensor) transfer function
2. The Tracking transfer function ( ) (Norwegian: Flgeforholdet) is defined as follows:
( ) ( )
( ) ( )
( ) ( )
The Tracking Property (Norwegian: flgeegenskaper) is good if the tracking function T has value
equal to or close to 1:

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| |
3. The Sensitivity transfer function ( ) (Norwegian: Sensitivitetsfunksjonen/avviksforholdet) is

defined as follows:
( )
( ) ( )
( ) ( )
The Compensation Property is good if the sensitivity function S has a small value close to zero:
| | | |
Note!
( )
( ) ( )
( ) ( )

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MathScript code:
clear
clc
% Define Transfer functions
% Controller Transferfunction
Kp = 1;
Hr = Kp;
% Process transfer function

num = 1;
den1a = [1, 1];
den1b = [1, 1];
den1 = conv(den1a, den1b);
den2 = [1, 0];
den = conv(den1, den2);
Hp = tf(num,den);
% Measurement transfer function

Km = 1;
Hm = Km
% Loop Transfer function

L = series(Hr, series(Hp,Hm))
% Tracking transfer function

T = feedback(L,1)
% Sensitivity Transfer funtion

S = 1 - T
% Step Response
figure(1)
step(T)
% Poles
poles(T)
figure(2)
pzgraph(T)
We test with different values for :

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The system is asymptotically stable.
The system is marginally stable.
The system is unstable.

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Discussion:
We see that the stability properties of the system changes with different values for (the
controller). This means we use the controller to define the stability of the system.
Task 3: Control System

Given the following control system:
The transfer functions are as follows:
( )
( )
( )
( )
Task 3.1
Find the loop transfer function ( ), the tracking transfer function ( ) and the sensitivity transfer
function ( ) for the system.
Solutions:
The Loop transfer function ( ) is defined as follows:
( ) ( ) ( ) ( )
Then we get:

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( )
The Tracking transfer function ( ) is defined as follows:
( ) ( )
( )
( ) ( )
Then we get:
( )
( )
( ) ( )
The Sensitivity transfer function ( ) is defined as follows:
( )
( )
( ) ( )
Then we get:
( )
( )
( ) ( )
Task 4: Stability of Feedback systems

Given the following control system:
The transfer function for the process (including measurement) is:
Task 4.1

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Define the stability properties of this process (is the process stable or not?).
Solution:
has a pole , which means marginally stable process.
Task 4.2
The transfer function for the controller is:
1. What is the loop transfer function ( )?

2. What is the tracking transfer function ( )?
3. What is the characteristic polynomial?
4. What is the systems pole(s)?
Solution:
1. The loop transfer function ( ) becomes:
( )
( )
( )
Where ( ) and ( ) numerator and the denominator of the Loop transfer function ( ).
2. The tracking transfer function ( ) is defined as follows:
( ) ( )
( )
( ) ( )
Then we get:
( )
( )
( )
3. The characteristic polynomial for the control system (tracking function) is defined as:
( ) ( ) ( )
This gives:
( )
4. The pole(s) of the control system becomes:

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Note! We see that the stability of the control system is determined by the placement of the roots of
the characteristic polynomial - or the placement of the poles of the tracking function in the complex
plane.
Task 4.3
For which values of is the system
Asymptotically Stable
Unstable
Marginally stable?
Solution:
Stable: The control system is asymptotically stable for ( ) , i.e.,
Unstable: The control system is unstable for ( ) , i.e.,
Marginally stable: The control system is asymptotically stable for ( ) , i.e.,
Task 4.4
Define the system in MathScript and find the step response for the system for different values of .
Solution:
MathScript code:
clear
clc
Kp=1;
% Tracking Function:
num = 2*Kp;
den = [1, 2*Kp];
T = tf(num, den)
% Step Response
step(T)
We can try with
: Asymptotically stable
: Unstable
: Marginally stable
This is confirmed by the step responses for these values of .

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Additional Resources
http://home.hit.no/~hansha/?lab=mathscript
Here you will find tutorials, additional exercises, etc.

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EE4107 - Cybernetics Advanced