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Joshua Natividad
FEEDCON
6 July 2007
Page 1
Objectives
Learn how to determine stability of dynamic systems Familiarize with Routh-Hurwitz stability criterion
References
R. S. Burns (2001), Advanced Control Engineering , USA: ButterworthHeinemann
Stability Defined
If the exponential terms decay as time increases, then the system is said to be stable. If the exponential terms increase as time increases, then the system is said to be unstable.
Stability Examples
System Responses
Which variable does the stability of the system depend on?
System Responses
Stability of a dynamic system depends upon the sign of the exponential index in the time response function, which involves finding real roots of the characteristic equation.
Critical Damping
Underdamping
Stable Response
Underdamping response, the time response is given as
Unstable Response
Stability
If any of the roots of the characteristic equation have positive real parts, then the system will be unstable.
--The statement is true even for higher ordered systems.
Stability Criterion
Routh (1905) and Hurwitz (1875) gives a method of indicating the presence and number of unstable roots, but not their value.
Routh-Hurwitz
Consider the characteristic equation
Stability Criterion
a) For there to be no roots with positive real parts then there is a necessary, but not sufficient, condition that all coefficients in the characteristic equation have the same sign and that none are zero.
Routh-Hurwitz Criterion
If (a) is satisfied, then the necessary and sufficient condition for stability is either b) All the Hurwitz determinants of the polynomial are positive, or alternatively c) All coefficients of the first column of Rouths array have the same sign. The number of sign changes indicate the number of unstable roots.
Hurwitz Determinants
Routh Arrays
Example
Check the stability of the system which has the following characteristic equation
Test 1: All coefficients are present and have the same sign. Proceed to Test 2.
Example
4th order
Example
3rd order
Example
-4
Example
-4
-4
Example
--0
+16
Example
There are two sign changes in the column therefore there are two roots with positive real parts. Hence, the system is unstable.
The zero or roots is determined from the denominator and equated to zero to form the characteristic equation
Alternative Method
Alternative Method
Start with the definition of the transfer function
Alternative Method
Multiply numerator and denominator with
to get
Alternative Method
Equate the denominator to zero in order to obtain the characteristic equation
BACK
becomes
Factorizing yields
BACKUP
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