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Stability
In this chapter, you will be able to:
c (t ) c f (t ) cn (t )
Stable Systems
Pole positions: Poles in LHP
forced response: approach limit
natural response: approach zero
Stability
Unstable Systems
( s a1 ) ( s am )
G (s) K
( s b1 ) ( s bn )
G (s)
T (s)
1 G (s)
( s z1 ) ( s z m )
T (s) K
( s p1 ) ( s pn )
G (s)
T (s)
1 G (s)
10 ( s 2)
T (s)
s ( s 4)( s 6)( s 8)( s 10 ) 10 ( s 2)
10 ( s 2)
T (s)
s 5 28 s 4 284 s 3 1232 s 2 1930 s 20
Routh Hurwitz Method
• Persamaan karakteristik:
an S n an 1 S n 1 a n 2 S n 2 .......... ........ a0 0
Only focus at
denominator
since we want to check
Routh-Hurwitz Table system poles
P(s) = a4s4 + a3s3 + a2s2 + a1s + a0
s4 a4 a2 a0
s3 a3 a1 0
s2 a4 a2 a4 a0 a4 0
a3 a1 a3 0 a3 0
b1 = b2 = b3 = =0
a3 a3 a3
s1 a3 a1 a3 0 a3 0
b1 b2 b1 0 b1 0
c1 = c2 = =0 c3 = =0
b1 b1 b1
s b1 b2 b1 0 b1 0
c1 0 c1 0 c1 0
d1 = d2 = =0 d 3= =0
c1 c1 c1
Jawab:
Routh Array:
G (s)
T (s)
1 G (s)
Step 2: Develop Routh Table
P(s) = s3 + 10s2 + 31s + 1030
s3 1 31 0
s2 10 1030 0
s1
1 31
1 0
1 0
1 103 1 0 1 0
b1 = = - 72 b2 = =0 b3 = =0
1 1 1
s0
1 103
1 0
1 0
72 0 72 0 72 0
c1 = = c2 = =0 c3 = =0
72 72 72
103
P ( s ) s 3 10 s 2 31s 1030
P ( s ) ( s 13.4136 )( s 1.7068 j8.595)( s 1.7068 j8.595)
Example 4:
200
T (s)
s 4 6 s 3 11s 2 6 s 200
s4 1 11 200
s3 6 1 6 1 0
s2 10 1 200 20 0
s1 -19 0 0
s0 20 0 0
P ( s ) s 4 6 s 3 11s 2 6 s 200
P ( s ) ( s 4.27 j 2.54 )( s 4.27 j 2.54 )( s 1.27 j 2.54 )( s 1.27 j 2.54 )
Contoh Soal 5
• Tentukan stabilitas sistem dengan metode routh hurwitz, jika
persamaan karakteristik sistem adalah:
Q(S) = S5 + S4 + 2 S3 + 2 S2 + 3 S + 15
2 12
lim 2
0
2 12
( 12 ) 15
A lim
0 2 12
15 2
A 12 lim 12
0 2 12
s4 2 6 3 + +
s3 0 7/2 0 + -
6 7
2
3 0 - +
s1 42 49 6 2 0 0 + +
12 14
s0 3 0 0 + +
1
T (s)
2 s 5 3s 4 2 s 3 3s 2 2 s 1
s5 2 2 2
s4 1
3 3 1 T (s)
2 s 3s 2 s 3 3s 2 2 s 1
5 4
s3 0 4/3 0
s2 3 4 1 0
s1 12 16 3 2 0 0
9 12
s0 1 0 0
s4 7 1 42 6 56 8
P(s) s 4 6s 2 8
s3 0 4 1 0 12 3 0 0 0
dP ( s )
s 2
3 8 0 4 s 3 12 s 0
ds
s1 1/3 0 0
Used to replace
s0 8 0 0
row of zeros
Pole Even (4th Other (1st Total (5th
Location Order) Order) Order)
RHP 0 0 0
LHP 0 1 1
j-axis 4 0 4 1on LHP + 4 on jw axis = 5 poles
TOTAL 5
Symmetric Equations
P ( s ) a6 s 6 a 4 s 4 a 2 s 2 a0
Example 11: Entire Row is Zero
s8 1 10 48 128 128
s7 3 1 24 8 96 32 192 64 P ( s ) s 6 8 s 4 32 s 2 64
s6 2 1 16 8 64 32 128 64 dP ( s )
6 s 5 32 s 3 64 s 0
s5 0 6 3 0 32 16 0 64 32 0 0 0 ds
s4 8/3 1 64/3 8 64 24
s3 -8 -1 -40 -5
Used to replace row of zeros
2
s 3 1 24 8
s1 3
s0 8
Question: 1. Fill in the table to determine no. of poles at RHP, LHP and j-axis
2. Is the system stable?
s8 1 10 48 128 128
s7 3 1 24 8 96 32 192 64
s6 2 1 16 8 64 32 128 64
s5 0 6 3 0 32 16 0 64 32 0 0 0
s4 8/3 1 64/3 8 64 24
s3 -8 -1 -40 -5
s2 3 1 24 8
s1 3
s0 8
G ( s ) s 3s 11s 27 s 18 0
4 3 2
Jadi sistem “stabil”, karena tidak ada perubahan tanda pada konstanta di kolom
Pertama.
Tapi stabilnya relative, karena metode routh hurwitz tidak dapat deteksi akar pada
sumbu imajinier
Pada sistem ini ada 2 akar imajinier, dan 2 akar riil disebelah kiri sumbu Imajinier
Routh Hurwitz Method
• Metode Routh Hurwitz dapat digunakan untuk
menentukan range penguatan pada suatu sistem
Contoh:
Q(s) = S3 + 6 S2 + 11 S + 6 + k
System unity negative feedback pada gambar diatas mempunyai 2 pole pada
titik asal dan 1 pole pada S = - 5
a. Apakah system akan stabil pada K ≠ 0 dan tentukan banyaknya pole yang
terletak pada bagian real positip.
b. Tentukan stabilitas sistem, jika pada diberi feedback controller : S+1
Assumsi: K > 0
Jawab:
a. C (S ) K
2
R ( S ) S ( S 5) K
Persamaan karakteristik : S 3 5S 2 K 0
Contoh Soal 14
• Deret Routh Hurwitz :
s2 18 K
s1 1386 K 0
18
s0 K 0
Dimana:
Persaman Karakteristik:
det(SI-A) = 0
Example
• Determine if the system is stable. If not, how many
poles in the LHP, RHP and on jw-axis
•
0 3 1 10
x 2 8 1 x 0 u
10 5 2 0
y 1 0 0 x
Solution:
det(SI-A) = 0
S 6 S 7 S 52 0
3 2
System is unstable, and there are 1 pole in RHP, and 2 pole in LHP
Example 18: Stability in State-Space
Ax x
Ax Bu
x Values of the system’s poles are
det( I A ) 0 equal to the eigenvalues of matrix A
s0 3 1
0 3 1 10
sI A 2 s 8 1
x 2 8 1 x 0 u
10 5 s2
10 5 2 0
sI A s 3 6 s 2 7 s 52
y 1 0 0x
s3 1 -7
s2 -3 -26
s1 -1 0
s0 -26 0