Routh-Hurwitz Stability

VIPUL SINGHAL 0903EC111118 Electronics & Comm.

Routh-Hurwitz Stability
Introduction Stability Criteria Rules to perform Routh-Hurwitz Test Routh-Hurwitz Tests

The Routh Array

Examples Special Case : 1. Row of all Zero 2. Zero in the First Column

Introduction
The Routh-Hurwitz Stability Criterian is a mathematical test that is used to find the roots of characteristic polynomial of a system have negative real part or not. In 1876 English Mathematician Edward John Routh proposed an algorithm to determine whether all the roots of the characteristic equation of a system have negative real parts. German Mathematician Adolf Hurwitz independently proposed in 1895 to arrange the coefficients of the polynomial into a square matrix, called Hurwitz matrix

Stability Criteria
A Hurwitz polynomial is a key requirement for a linear continuous-time time invariant to be stable.

We need to decide whether or not the roots of a polynomial are all in the left half of the complex plane

Rules to perform Routh-Hurwitz Test

The Routh-Hurwitz test is performed on the denominator of the transfer function, the Characteristic equation.

If we simplify this equation, we will have an equation with a numerator N(s), and a denominator D(s):

The Routh-Hurwitz criteria will focus on the denominator polynomial D(s).

Routh-Hurwitz Tests
* The Routh-Hurwitz criteria is comprised of three separate tests that must be satisfied. The Characteristic equation D(s) can be represented generally as follows:

* All the coefficients ai must be present (non-zero) * All the coefficients ai must be positive (equivalently all of them must be negative, with no sign change) * If above conditions are satisfied, then form a Routh array from the coefficients ai.

Routh Array
The Routh array is formed by taking all the coefficients ai of D(s), and staggering them in array form. The final columns for each row should contain zeros. if N is odd, the top row will be all the odd coefficients. If N is even, the top row will be all the even coefficients. We can fill in the remainder of the Routh Array as follows:

Now, we can define all our b, c, and other coefficients, until we reach row s0. To fill them in, we use the following formulae:

Example
We are given a system with the following characteristic equation:

Using the first two requirements, we see that all the coefficients are non-zero, and all of the coefficients are positive. We will proceed then to construct the Routh-Array:

And we can calculate out all the coefficients:

And filling these values into our Routh Array, we can determine whether the system is stable:

From this array, we can clearly see that all of the signs of the first column are positive, there are no sign changes, and therefore there are no poles of the characteristic equation in the RHP.

Special Case :Row of All Zeros

If we have a row of all zeros, the row directly above it is known as the Auxiliary Polynomial, and can be very helpful The roots of the auxiliary polynomial give us the precise locations of complex conjugate roots that lie on the j axis. However, one important point to notice is that if there are repeated roots on the j axis, the system is actually unstable

Special Case :Zero in the First Column

In this special case, there is a zero in the first column of the Routh Array, but the other elements of that row are non-zero. Like the above case, we can replace the zero with a small variable epsilon () and use that variable to continue our calculations. After we have constructed the entire array, we can take the limit as epsilon approaches zero to get our final values.

Thank You