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Stability
Let si be the poles of rational G.
Then, G is:
marginally stable if
1.
2.
Routh-Hurwitz criterion
This is for LTI systems with a polynomial
denominator (without sin, cos, exponential etc.)
It determines if all the roots of a polynomial lie in
the open LHP (left half-plane), or equivalently, have
negative real parts.
Step 1
Write the polynomial as the
characteristic equation
Step 2
Write the coefficients in 2
rows
1st row starts with an
2nd row start with an-1
Other coefficients
alternate between rows
Both rows should be the
same length
Continue until no
coefficients are left
Add zero as last
coefficient if necessary
Step 3
Complete the 3rd row
Call the new entries b1, , bk
The 3rd row will be the same length as the 1st two
Step 4
2.
3.
Example 2
Example 3
Root-Locus Method
Sample Problem
Let us start with the simplest of all processes, a firstorder lag. We will choose a proportional controller.
The system and controller transfer functions are
For a 1st order system, the closed-loop root is always real, so the
system can never be underdamped or oscillatory. The closedloop damping coefficient of this system is always greater than
one. The larger the value of controller gain, the smaller the
closed-loop time constant because the root moves farther away
from the origin (the time constant being the reciprocal of the
distance from the root to the origin).