Week 2nd

Stability

In this chapter, you will be able to:

Determine the stability of a system represented in
transfer function
Determine the stability of a system represented in
state space
Determine system parameters to yield stability

Stability
system response

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
Pole positions: Poles in RHP
forced response: grow unbound
natural response: grow

Stability
j

Marginally Stable Systems

s-plane
c(t)

Pole positions: Poles on jw-axis

forced response: sinusoidal
natural response: sinusoidal

Bounded Input Bounded Output (BIBO)

A system is stable if every bounded input
yields bounded output

Review: Unity Feedback

G(s) K

( s a1 )( s am )
( s b1 )( s bn )

G (s)
1 G (s)
( s z1 )( s zm )
T (s) K
( s p1 )( s pn )
T (s)

Feedback modify the positions of the

open loop poles
Response of the closed-loop system is
fully described by the positions of the
closed-loop poles

Exercise:
Find the closed loop transfer function

T ( s)

G ( s)
1 G(s)

10( s 2)
s ( s 4)( s 6)( s 8)( s 10) 10( s 2)
10( s 2)
T ( s) 5
s 28s 4 284 s 3 1232 s 2 1930 s 20
T ( s)

Closed Loop Transfer Function

Routh-Hurwitz Table

Only focus at
denominator
since we want to check
system poles

The number of RHP poles = The number of SIGN CHANGES of COL 1

Question: Determine whether the system is stable

Step 1: Find the closed-loop transfer function

T ( s)

G(s)
1 G ( s)

Step 2: Develop Routh Table

P(s) = s3 + 10s2 + 31s + 1030
s3
s2
s1

1
10

b1 =
s0

c1 =

31

1 103

31
1030
= - 72

1
1

103

72

72

b2 =

c2 =

103

0
0

1 0
1 0
1
1

=0

b3 =

72 0
72

=0

c3 =

1 0
1 0
1
1

=0
0

72 0
72

=0

Step 3: Interpret Routh Table

TWO sign changes: Thus 2 RHP Poles
Therefore, system is UNSTABLE

P ( s) s 3 10s 2 31s 1030

P ( s) ( s 13.4136)( s 1.7068 j8.595)( s 1.7068 j8.595)

Example 2:

T ( s)

200
s 4 6 s 3 11s 2 6 s 200

s4

11

200

s3

6 1

6 1

s2

10 1

200 20

s1

-19

s0

20

2 sign changes: 2 RHP (UNSTABLE)

Poles: 2 LHP and 2 LHP
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)

Example 3: Zero only in the first

column
T ( s)

10
s 5 2 s 4 3s 3 6s 2 5s 3

Sign changes at first row when

is small POSITIVE
Sign changes at first row when
is small NEGATIVE

Assume is small POSITIVE (follow the previous signage) :

TWO sign changes at first column
Poles: 2 RHP, 3 LHP

P ( s ) s 5 2 s 4 3s 3 6 s 2 5 s 3
P ( s ) ( s 1.66)( s .34 j1.5)( s .34 j1.5)( s .51 j 0.7)(s .51 j 0.7)

Tugas 1

Example 4:
T (s)

1
2 s 5 3s 4 2 s 3 3s 2 2 s 1

s5

s4

s3

4/3

s2

3 4

s1

12 16 3 2
9 12

s0

Assume is small POSITIVE : TWO sign changes

Poles: 2 RHP, 3 LHP
5
4
3
2

T (s)

1
2 s 3s 2 s 3 3s 2 2 s 1
5

P( s ) 2 s 3s 2 s 3s 2 s 1
P( s ) ( s 1.33)( s .33 j.89)( s .33 j.89)( s .41 j 0.5)( s .41 j 0.5)

Example 5: Entire Row is Zero

T ( s)

10
s 5 7 s 4 6 s 3 42s 2 8s 56

Polynomials above the

row of zeros

s5

s4

7 1

s3

0 4 1

0 12 3

0 0 0

s2

s1

1/3

s0

8
6

42

56 8

Pole
Location
RHP

Even (4th
Order)
0

Other (1st
Order)
0

Total (5th
Order)
0

LHP

j-axis

TOTAL

P( s) s 4 6s 2 8
dP ( s )
4 s 3 12 s 0
ds
Used to replace
row of zeros

1on LHP + 4 on jw axis = 5 poles

Symmetric Equations
P ( s ) a6 s 6 a 4 s 4 a 2 s 2 a 0

Example 6: Entire Row is Zero

T (s)

128
s 8 3s 7 10 s 6 24 s 5 48s 4 96s 3 128s 2 192s 128

s8

10

48

128

128

s7

24

96

32

192

64

s6

16

64

32

128

64

s5

0 6

0 32

0 0

s4

8/3

64/3

s3

-8 -1

s2

s1

s0

16 0 64
8

-40 -5
24

64

32

Polynomials above the

row of zeros

P ( s ) s 6 8s 4 32 s 2 64
dP ( s )
6 s 5 32 s 3 64 s 0
ds

24

Used to replace row of zeros

Question: 1. Fill in the table to determine no. of poles at RHP, LHP and j-axis
2. Is the system stable?
s8

10

48

128

128

s7

24

96

32

192

64

s6

16

64

32

128

64

s5

0 6

0 32

0 0

s4

8/3

64/3

s3

-8 -1

s2

s1

s0

Pole
Location
RHP
LHP
j-axis
TOTAL

16 0 64
8

64

32
24

-40 -5
24

Even (6th
Order)

Other (2nd
Order)

Total (8th
Order)

Answer:
Pole
Location
RHP

Even (6th
Order)
2

Other (2nd
Order)
0

Total (8th
Order)
2

LHP

j-axis

TOTAL

8
Poles: 2 RHP, 4 LHP and 2 on jw axis

System is unstable due to the poles located at RHP

P ( s) s 8 3s 7 10 s 6 24 s 5 48s 4 96 s 3 128s 2 192 s 128
P ( s) ( s 2)( s 1)( s j 2)( s j 2)( s 1 j1.73)( s 1 j1.73)( s 1 j1.73)( s 1 j1.73)

Example 7: Stability Design via Routh-Hourwitz

Find range of K that will cause the system to be stable / unstable / marginally stable
for the given diagram.

Step 1: Find closed-loop transfer function:

K
T ( s) 3
s 18s 2 77 s K
Step 2: Develop Routh-Hourwitz table
s3

77

s2

18

s1

1386 K
18

s0

Step 3: Analyze table

STABLE:

0 < K < 1386

MARGINALLY STABLE:

UNSTABLE:
K = 1386

K > 1386

Example 8: Stability in State-Space

Ax x

Ax Bu
x

det(I A) 0

3
1
0
10
x 2
8
1 x 0 u
10 5 2
0
y 1 0 0 x

s0

sI A 2

s 8

s2

10

sI A s 3 6 s 2 7 s 52

s3

-7

s2

-3

-26

s1

-1

s0

-26

1 sign change: 1 RHP

Poles: 1 RHP, 2 LHP

Values of the systems poles are

equal to the eigenvalues of matrix A

System is UNSTABLE