Chapter 6 Stability Criteria - Nise

1
Chapter 6: Stability
Chapter 6
Stability
introduction
C(t)=Cforced(t)+Cnatural(t)
For a bounded input, depend upon
natural response, the system can be
stable, unstable or marginally stable
A system is stable if every bounded
input yields a bounded output (BIBO)
If input is bounded but the total
response is not bounded, the system
is unstable
Stability
A system is stable if the natural

response approaches zero as time
approaches infinity.
A system is marginally stable if the
natural response neither decays nor
grows, but remains constant or
oscillates.
Marginally stable
Note that the
roots are on the
imaginary axis
Figure 6.1
Closed-loop
poles
and response:
a. stable
system;
b. unstable
system
G(s)
Figure 6.2
Common cause
of problems in
finding closedloop poles:
a. original
system;
b. equivalent
system
(R-C)G=C
(1+G)]R
C(1+G)=GR, C=[G/
G(s)/[1+G(s)]
Figure 6.3
Equivalent
closed-loop
transfer
function
Table 6.1
Initial layout for Routh table
Table 6.2
Completed Routh table
If no sign changes, stable
10
Figure 6.4
a. Feedback
system for
Example 6.1;
b. equivalent
closed-loop
system
1000
G ( s)
( s 2)( s 3)( s 5)
1000
1 G(s) 1
( s 2)( s 3)( s 5)
1000
1000
3
2
( s 2)( s 3)( s 5) 1000 s 10 s 31s 1030
11
Table 6.3
Completed Routh table for Example 6.1
Two sign changes, two

unstable poles
12
Table 6.4
10
T ( s) 5
s 2 s 4 3s 3 6 s 2 5s 3
13
Table 6.5
Determining signs in first column of a
Routh table with zero as first element in
a row
Two sign changes; two unstable poles
14
10
T (s) 5
s 2 s 4 3s 3 6 s 2 5s 3
1
s , criteria can be converted to
d
D ( s ) 3s 5 5s 4 6 s 3 3s 2 2 s 1
Table 6.6
Routh table for
Example 6.3
15
Table 6.7
Routh table for Example 6.4
10
T ( s) 5
s 7 s 4 6 s 3 42 s 2 8s 56
P(s)
P(s)
All
zero
P(s)=s4+6s2+8,
P(s)=4s3+12s
16
The auxiliary polynomial
The equation that immediately precedes

the zero entry in the Routh array.
Control Systems
16
17
Figure 6.5
Root positions
to generate even
polynomials:
A , B, C,
or any
combination
If two + real
poles, there must
be two real
roots, otherwise
two roots are on
j-axis
18
20
T (s) 8 7
s s 12 s 6 22 s 5 39 s 4 59 s 3 48s 2 38s 20
Table 6.8 Routh table for Example 6.5
19
Table 6.9
Summary of pole locations for Example 6.5
Total 8 roots exist because it is 8th order
P(s)=s4+3s2+3, no sign change after this

means no real pair4 roots on j-axis
20
Figure 6.6
Feedback
control system
for Example 6.6
200
G ( s)
s ( s 3 6 s 2 11s 6)
T (s)
200
1 G (s) 1
s ( s 3 6 s 2 11s 6)
200
4
s 6 s 3 11s 2 6 s 200
21
Table 6.10
22
Figure 6.7
Feedback control
system for
Example 6.7
1
G (s)
s (2 s 4 3s 3 2 s 2 3s 2)
T (s)
1
1 G(s) 1
s (2 s 4 3s 3 2 s 2 3s 2)
1
5
2s 3s 4 2 s 3 3s 2 2 s 1
23
Two poles in rhs;

unstable
Three poles in lhs
24
1
T (s) 5
2 s 3s 4 2 s 3 3s 2 2 s 1
Rearrange it
s 5 2 s 4 3s 3 2s 2 3s 2
Put s=1/d; s and d

shows the same
sign
The same
result; Two
poles in rhs;
Three poles in
lhs
Table 6.12 Alternative Routh table for Example 6.7
25
Figure 6.8 Feedback control system for Example 6.8
128
G (s)
s ( s 7 3s 6 10s 5 24s 4 48s 3 96 s 2 128s 192)
T (s)
128
1 G (s) 1
s ( s 7 3s 6 10 s 5 24s 4 48s 3 96 s 2 128s 192)
1
8
s 3s 7 10 s 6 24s 5 48s 4 96 s 3 128s 2 192 s 128
26
Table 6.13
P(s)
P(s)=s6+8s4+32s2+64; two rhs (two sign changes), so

two lhs, the remaining two on j-axis
27
Table 6.14
28
Figure 6.9
Jason is an
underwater, remotecontrolled vehicle that
has been used to
explore the wreckage of
the Lusitania. The
manipulator and
camera comprise
some of the vehicles
control systems.
Courtesy of Woods Hole Oceanographic Institution.
29
Figure 6.10
Feedback control
system for Example
6.9
K
G ( s)
s ( s 7)( s 11)
T ( s)
K
1 G ( s) 1
s ( s 7)( s 11)
K
3
s 18s 2 77 s K
30
Table 6.15
If no sign change
at the first column;
unstable
If there is a zero
row, jw is possible
Stable
0<K<1386
31
Table 6.16
Routh table for
Example 6.9 with K = 1386
P(s)=18s2+1386
P(s)=36s
As there is no
sign change
below, there are
two jw poles
Marginally stable
32
Figure 6.11
The FANUC
Robot M- 400
can be
configured for 4or 5-axis of
motion. It is
seen here
moving and
stacking boxes.
Courtesy of Fanuc Robotics.
33
Table 6.17
s4+3s3+30s2+200
P(s)
P(s)=s2+10
s4+3s3+30s2+200=(s2+10)
(s2+3y+20)
34
Stability in State Space
System poles are equal to the eigen

values of the system matrix A
Ax=x
(I-A)x=0
x= (I-A)-10
x= [adj(I-A) /det (I-A)]0
det (I-A)=0
Use det (sI-A)=0
35
3
1
0
10
x 2
8
1 x 0 u
10 5 2
0
y 1 0 0 x
3
1
s 0 0 0
( sI A) 0 s 0 2
8
1
0 0 s 10 5 2
3
1
s
s(s-8)(s+2)+30+10
2 s 8 1
+10(s-8)+5s-6(s+2)
10
5
s 2
=s3-6s2-7s-52
det( sI A) s 3 6 s 2 7 s 52
36
Table 6.18
One rhs, two lhs; unstable
37
Table 6.19
Routh table for antenna control
case study
38
Table 6.20
Routh table for UFSS case study
39
Figure P6.1
40
Figure P6.2
41
Figure P6.3
42
Figure P6.4
43
Figure P6.5
44
Figure P6.6
45
Figure P6.7
46
Figure P6.8
47
Figure P6.9
48
Figure P6.10
Closed-loop
system
with pole plot
49
Figure P6.11
Aircraft pitch loop
model
50
Figure P6.12
Block diagram of a
chemical process-control
system
51
Courtesy of Kazuhiko Kawamura, Vanderbilt University.
Figure P6.13
a. Soft Arm
used for
feeding;
b. simplified
block
diagram
52
Figure P6.14
Towed vehicle roll
control
53
Figure P6.15
Cutting force control
system
1997 ASME.
54
Japan Air Lines/ Photo Researchers.
Figure P6.16
a. A magnetic
levitation
transportation
system;
b. simplified
block
diagram (1998
IEEE)
55
Table 6.1
Initial layout for Routh table
56
Table 6.2
Completed Routh table
57
Table 6.3
58
Table 6.4
59
Table 6.5
Determining signs in first column of a
Routh table with zero as first element
in a row
60
Table 6.6
61
Table 6.7
62
Table 6.8
63
Table 6.9
64
Table 6.10
65
66
Table 6.12
Alternative Routh table for Example 6.7
67
Table 6.13
68
Table 6.14
69
Table 6.15
Routh table for
Example 6.9
70
Table 6.16
Routh table for
Example 6.9 with K = 1386
71
Table 6.17
72
Table 6.18
73
Table 6.19
Routh table for antenna control
case study
74
Table 6.20
Routh table for UFSS case study

Chapter 6 Stability Criteria - Nise

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1

A system is stable if the natural

If no sign changes, stable

Two sign changes, two

Two sign changes; two unstable poles

The auxiliary polynomial

The equation that immediately precedes

Table 6.8 Routh table for Example 6.5

P(s)=s4+3s2+3, no sign change after this

Table 6.11 Routh table for Example 6.7

Two poles in rhs;

Put s=1/d; s and d

Table 6.12 Alternative Routh table for Example 6.7

Figure 6.8 Feedback control system for Example 6.8

P(s)=s6+8s4+32s2+64; two rhs (two sign changes), so

Courtesy of Fanuc Robotics.

Stability in State Space

System poles are equal to the eigen

One rhs, two lhs; unstable

Table 6.11 Routh table for Example 6.7

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