Stability Design via Routh-Hurwitz

Given the system below find the range of the

gain K that will lead to stability, unstability
and marginal stability.

R(s)
E(s) C(s)
K
+
− s(s+7)(s+11)

Closing the loop:

K
T (s) = 3 (1)
s + 18s2 + 77s + K

1
 s3 1 77

s2 18 K

s1 1386−K 0
18

s0 K 0

• If K is positive (assumed) all the elements

in the first column are positive except that the
s1 entry may be positive/nagative.

• If K < 1386, the system will remain stable.

• If K > 1386, the system will remain unstable.

• If K = 1386, a row of zeros, so using

P (s) = 18s2 + 1386 (2)

2
 dP (s)
= 36s + 0 (3)
ds

s3 1 77

s2 18 K

s1 6 0 → 36 0

s0 1386 0

Since there are no sign change from s2 to s0

the even polynomial has no unstable roots,
only jω roots, therefore the system is marginally
stable when K = 1386.

3
Root locus techniques

• Root locus, a graphical representation of the

closed loop poles as a system parameter is var-
ied.

R(s)
E(s) C(s)
+ K G(s)
−

H(s)

R(s) C(s)
KG(s)

1+KG(s)H(s)

• The root locus will display how the poles are

as K is varied.
4
Vector representation of a complex num-
ber

• Any complex number, σ + jω, described in

Cartesian coordinates can be represented as a
vector.
j ω

j ω

0 σ σ

• Substituting this complex number into a com-

plex formula, F (s), results in another com-
plex number. e.g. F (s) = s + a, substituting
s = σ + jω gives F (s) = (σ + a) + jω

j ω j ω

0 σ+a σ −a 0 σ σ

5
• Note the second representation originates at
the zeros of F (s) and terminates at the point
s = σ + jω.

• (s+a) is a complex number, represented by

a vector drawn from the zero of the function
to the point s.

• For example, (s + 7)|s → 5 + 2j, is a complex

number drawn from the zero of the function,
−7, to the point s, which is 5 + 2j

jω

2j

−7 5 σ
0

6
• Applying these concepts to a complicated
function
Qm Q
(s + zi ) numerator 0 s complex f actors
F (s) = Qni=1 = Q 0
(4)
j=1
(s + pj ) denominator s complex f actors

where m is number of zeros, n is number of

poles. Each factor in the numerator and each
factor in the numerator can be represent as a
vector.

• The magnitude, M , of F (s) at any point, s,

is
Q Qm
zero lengths |(s + zi )|
M = F (s) = Q = Qni=1 (5)
pole length j=1
|(s + pj )|
where a zero length, |(s+zi)|, is the magnitude
of the vector drawn from the zeros of F (s) at
(−zi) to the point s. and a pole length, |(s+pj )|,
is the magnitude of the vector drawn from the
poles of F (s) at (−pj ) to the point s.

7
• The angle, θ, of F (s) at any point s, is
X X
θ = zero angles − pole angles
m
X n
X
= 6 (s + zi ) − 6 (s + pj ) (6)
i=1 j=1

e.g. Find F (s) at the point s = −3 + 4j if

(s+1)
F (s) = s(s+2)

jω
−3+4j 4

−3 −2 −1 0 σ
8
 √
1. Vector originating at zero at -1 is 206 116.6o.

2. Vector originating at pole at origin is 56 126.9o.

√
3. Vector originating at zero at -1 is 176 104.0o.

So
√
20
M = √ = 0.217
5 17
X X
θ = zero angles − pole angles
= 116.6 − 126.9 − 104.0 = −114.3o (7)

The M 6 θ = 0.2176 − 114.5o is the result of

evaluating F (s) at the point −3 + 4j.

9
Defining the root locus

R(s)
E(s) C(s)
K
+
− s(s+10)

K
• Given the function F (s) = s2+10s+K , we can
apply the quadratic formula to obtain the roots
of the denominator
q
2
√
−b ± b − 4ac −10 ± 100 − 4K
= ,
2a 2
with
a = 1, b = 10, c = K

10
 K Pole 1 Pole 2 K Pole 1 Pole 2

0 -10 0 30 −5 + j2.24 −5 − j2.24

5 -9.47 -0.53 35 −5 + j3.16 −5 − j3.16

10 -8,87 -1.13 40 −5 + j3.87 −5 − j3.87

15 -8.16 1.84 45 −5 + j4.47 −5 − j4.47

20 -7.24 -2.76 50 −5 + j5 −5 − j5

25 -5 -5

Graphically

j ω
K=50 5

1
K=0 K=25 K=0
−5 0 σ
σ

K=50

11