G6. ROUTH. HURWITZ STABILITY CRITERION) * 6.4 Introduction (fr The stability of a system is determined by its yesbonse to inputs or disturbances, Stabilily can be precisely dadhémemed defined in terms of the impulse yvespense of a system. This is so because the transfer function is also the Las/ace tvansform of the system's unit impulse yesponse, since ef the input is a unit impulse, Vtyedlt) => Resyeal o the output, with zero initial conditions, is Yimpulse $8) = Tis? Res) a Ves) @) im| as sheun im Fig Get), eres.) 7, ainieslaee Resyod Yoerpuats Tey Fiat! The tyamsfey function of a single-input, cite ae is the Laplace vaushovm of irs unit impulse yesbense. Note that the Complex variable s may be covi Hen as S=C+4jum >, j= fr @) wheve is the—real fart amt both © and w ave veal, but jo is imaginayy pavt. A tvansfey function way be wriffen as a rational function Spee rbiss by . Sy aaa a, men 4) The values of the complex uaviable s for hich [Ges , that is, the absolute value of Gis) is zevo, ave called He zeros of Gis). The values of the complex » variable s fav ohich |Gcs>| is infinite ave called the poles cf cs), The denominatoy in Egy) is called the chavactevistic polynomial. The egustion Bi Sg Giggay, Bw wos. ae @,s4A,=0 (5) MS Sau Mo SSIS peeatiow The tole oveer 42, Example: Find the zeros and poles of the rational func Tess ag —as-4 — s? +5 S*495 40 Solution: y Tes) = 203541) (5-2) (543) (54149) (541-9) + Tes) has zeves at s=-1] and soa & Tes) has poles at s=-3,52-1-}, and s=-14) EBeles and teves ave complex numbers determined by two veal veviakles, one representing the yea part ond the othey the imaginary fart of the complex number, A pole ov zero can, therefove, be repvesented asa point in vectangulay coovdinates. The abscissa of this poiut yepresents the yeal pavt and the ovdinate the imaginary part. The abscissx is also called the S-axis and the ordinate the jw —axis. The plane defined by this coovdinate system is called the Complex plane ov the s-flane, Thet half of the plane in which Sco is called the left-half ofthe s-plane (LHP), and thet half in which Gyo is called the vighf— half of the s- plane ( RHP). The location of a Mame pole in the s— plane is dencted symbolically by a cvoss(x), and the location of a zevo bya small civele (0), The s-flane including the locations of the finite poles and zeros of Tes) I's called the pole-zevo map of Ts), lesraxts Example: The vational function 5 “Vesin S41 6 82) (+3 C $4145) CS41-9) has Sinite peles S=-3, sey Senta jy anh Se -14y, and finite Zeyos S=—l, and saa, The pole-zeyg map of Tes) is shown in Fig (7-2), Fi9(7-2):The pele -zevo map of the given TCs).A system is input-output stable if ond only if its (rramae impulse vesponse decays asymptotically to zero vith time, that is, fie impulse vesponse approaches Fev as time approaches infinity, As the transfer function is the Laplace transfovm of the unit impulse yesponse, a system is stable if and only if alf_of ity characteristic yeets Cpoles) ave te the (eft of the imaginary axis on the complex plane. Fora stable systen, the natuya/ Yespense Component and the Zevo- input yesponse component decay with time. If the system has some chavecteristic yeets Cpoles) with veal favts egual & Zevo, but none wih positive veal favts, he systeun is said te be marginally stable, In this instance , the impulse yesbonse does not decay fs zeve athoagh it is bounded. Additionally, certain inpute will produce unbounded outputs (4 system is ctable if every bounded input produces a bounded output), Hence, marginally stable systems ave unsfable, Example, The system described hy the Laplace transfomed epustion (2.1) Xs) = KES) has the chavactevistic eguatiron G40 =o This eguation has tio veets tjo. Since these voats have zeve veal parts, the syste is not stable It is, howevey, marginally steble since the equation hat ne yoots with perittoe veal parts. In vesponse ta moat inputs oy distuvbances the system will oscillate with a founded output. However, if the input is x= sint, the output will he yat sint » akieh is unbounded. “Whe following examples of the Lafplace-trvanstovar denominchy rest locations aud the covresponding Lime function el tha ebability cviberin cortdeced Te Maceo ech athy he syed aleve, ni = — ca Re aan? =a Re t cay Decay enbargatel : Exhandi, E Cy Sth eewchiny Figcy3): Choma aerial Rect locations oud Stabi itty: a) stable byw ey marginaliy sable,7.2 ReuthHuywite Stability Criterion (arenne” The Iti closed-loop systems generally have closed. loop transfer funbiont of Ha: fore Tis = SS = bas thy S$ ~~ orbs be «w) RO ae Fy Se HS HG where the a's and bs axe Constants ans min. The stabi lily of the system depends on the location of the poles. The deterninahiny of the poles invelues the solution of the chayactevistre ezuatr'on which im tuvn involves the factorization of the denominator ” polynomial in £g 6). The analytical methed te do this is very time-consuming and tedious for a polynomial «f Legvee greatey than 2. The Rout-Hurwite stabilily Crvifeviou is @ numevieal prece dave fev determining the nuwhey of RHP ane fm —axis Cid) ves of « polynomial to decide about the stab % of the system, The Routh _Huvesife stability eviteron tells us wheThey or not there ave positive roofs, ov roots on ZA wilkout selutng the chavacterictic eguation, liken the cvitevion is afplied to a Contvol system, infovmation abouk absolute stabilety can be obtained divecty from the Coefficients of the chavacteristic eguation, The Rou -Hurwite stesi lity cyttevion is hased on Routh table comprising of Mercutfticients a; of the chavacterictic polynomial, which is the denominator of Tes7, thet is | Seen PGIz a, s* 4 Anus ys nt nal ha Seam 4,9, Routh table: aa Ft tS + oe caer 7 -rakieeeee pes s a $ ip nal a ant ) s The fourth tou is Jemmed ita as follows, t BEL bee be i i Go) Gm) " The fivst vow starts with the highest evdey |. be ob tn Constant Qqy aud then every other constant [SF p> Sp is set forth. The second yoo sharis with the \ yy second highest ordey Constout. The fink |Oinet vous telien v fue vows are fovmed frou the coefficients of tiers. Tis eee wit pcsd. The subseguent vews ave fovmed aS totiegs] Several crauples.Row table gk > Corns Case 1: Wo element in the fivst column is zero. | Example: For the characteristic polynomial pisd= 2s‘yatastaasac Rowth table slo 5 «€ © s\3 2 © oe # b, b by s! “So a es, Ss} da dy dy a5 bys a Gye Bee we Oso, t.3 3 © cae DUO RB ¥O_ Qo wg 9 Cae ae SE by ast bed < wT bb ye % 4 s ie gt jae hee ; Merce the Routh table is Please note: The number of RHP yoots of (sp is the numbey of algebvare sign changes in the clements of the leftmost calumu of the Rewth table, preceeding trom top te bottom. Fox ae ecample, there are Tere sign changes in the ledt— ost Coley Indicated by avvews. Hence pcs) Kas Tore RHP voots, This shrws thet the system unstable , . sss. Example: A system with transfer function Tes) = = ___ has chayvacteristic polynomial SUS aS Hs +! bisde sty as sashansel D Oz computed numbey 2 Since there is ne sign chauge in the oO elements of the legt— mest column, heres @ There dre we RHP voott. Ths the oO System is stable. Pay anyREZARL CT. B: Case 2: Left. Clann Zeros: eves im the Sivgt cqlamn hile Some lement: the vow containk evo t the first Galea ee haasen, 3% eevee When a zev cccuvs im the fivst cofemn, the Routh table cannst be completed because of dtuision by zere, Such a situation canbe handled by fio methods, Example: For he chavactevistic polynemial pee asta Seasegses Routh table [3 2 5 HEI=z computed sy e 4 >lfol Tl st = Method L: The aere in the fivst column is eliminated by extending the avvay, The You Containing the tiv st column dere is Yenamedt the Avou, and a new vow termed the B vew is Jormed by sliding the A vou fe the (eft until the Zeros disapheave, The sign of the you is changed by CU ohere n ig the numbey of times this rou is shifted to the left to eliminate the zeves. In tha given exauple, he A ad B yous ave as follews because nai. ° 5 the new “st vow is fovmed by adding A aud B rows tagetiey, with the vesult sis a2 = shes 5 > ‘5 & | Aftey the vyemaining terms ave calenlafed “les as hefeve, the Routh table becomes: x 4 Simee theve ave two sign changes shan | . by avvews, hence feeve ave twe veets in the RHP, This shows that the systen js unstable. fs 2 5 s}o 4 Method 2:€- method , the 2ere clement in the first column is replaced ilk a small sil 5 positive number & whichis allowed T ‘! (se332] appvoach Kevo attey Completing the Roath ol table. The Routh -Huvwifa table obtained Vis) by this meMlad fey fhe the g/UQn Cxdufle js Shean.AR atae ot as In the limit as e-ro: Iie HES lou 32) foe $t3 Hemee the Sivit column of Reulk -Huruite (Ru)teble ise 3? C Theve are tive algebvaic sign changes in the frat Sho Column as £ ofpyeaches seve, Hence the charactevishc § 3) Shs polynomial has five RKP reefs leading te an unstable system, N.B, The t-melthed hes a@ weak feovetical justificats., and has net been proven te be walid fovall Aolynomials, Hewenev, U is chil widely used. Case 3: Row of Zevos: Zevos in the first column, and the othey elements of the you containing the zevoe ave also zev. Case 3 occuys when all the elements in one You ave. Bevo, ov ahem the you consists of a single element whieh is 2eve, This Condition occurs when the fe lynomial contains singulavities (poles) that ave symmetyically located ahout the origin of the S-plane, Thevelave, Case 3 oceurs when factoys such as(s+OH)(s—e) ov (St}w)Cs~-}w) oceuy, This problem is civcumvented by utilizing the auxil/avy epustion, which immediately precedes the zeve entyy In the Reuth —Huywite (RE) avvey ctable), The ovdey of the auxiliavy epuation ts always even amd indicates the number of symmetyeal yostfaive. Example: Let us test the following $ chavactaristre polynomial foy stability. pen=s eostes Se udeleseia RH teble The rew of zeves indicates an even belynomial divisoy of the oviginal pelgnamial, This polywomial sekirtins has « paty of voots which satisfy The auniliavy Cguation.* adip-g wheve A aud B ave the coefficients o% the Livst anck second Clements o uted The SF YOw. Thug the Auriliary epeation scomputed igs “3 > ciao, This lead yt theCT Fe even polynomial divisey AFZAL Bioteos@? = 2 2412 = 3¢S44) = 3054259 (¢5-255 Thus the oviginal chavactevistic pelynomial has fue imag nary symmetrical voots at sz jx (mevainal stability), There ava thyee move roots since the original pelynomial being 3 x Ered tested is of ovdey 5. Soh Ss iets eat FU Aes. The chavactavistic pelynomial division 7 5% ths by the auviliavy polynomial is shewn, Soy tn eee which proves that the auxiliary Haya rare polynomial jx jndaed 4 fact ofthe yee hk Charactevistie polynomial being fasted . aS Now te complete the R-H Byvay, the vowel zeros is veplaced by the coefficients of the devivative of the Rvisoy polynomial: soll 3 7 AP aiisey > = Hodis ¢ => sep2 Whe ‘s . 3/2 10 The remaining three roots ave tested using Sep eases the left-column sign changes above the st) 3 dashed Nnep, Theve Bxe No sign changes, sty ¢ So the Yemaining™muct be inthe LEP (stahilit): ce ee Vhas the evevall vesult {x marginal febility. ALTERNATIVE METHoD: The R-H avvey isx> Therefore , the auxiliary folynoméal is Pcs) = 3S%4i2 a 3¢steuy=acsejaycs-jay which indicates that twe yoots ave on the Imaginary axis (marginal stability). Tn order ¢| te Cxaming, the Yemaining yoots, we Aivike the characteristia bolanomial Pus) by the auxiliary polqnomial pe f get cs) Ty astyg 33 ) re oa) = 37425 Sass Sexist _ Serdeuse3 . “s' Establishing 'an RH table Loy the vesulting eguation, 3) 4 we get my Slag No sign ehenge in the Livst column rgdrenite |BI/. that the vamatning thyee veots must be in 3 the LHP Cstabililyy. . 3/8] Thus the overall yesulf is marginal stability,Bl ere Cose 4: Adjustable Systems: It is often Krell Bhs for what range ov ranges af am adjustalle farameder Ka system is stable. Fev systems with characteristic equation of ovdey one and Tae, the equction can be solved divectly to decide Ghout stability for assumed values of K. For systems vith chavactevistre pelgnomials of higher order, the Routh — Hurwifs test studied in previous cases can be applied te ahjastlle systems t shady stability. siya Example:Let us consider fhe follesing fa K chavactevistic polynomial for stabilily, s! ° pesv= Sa 2s*husek : s°| &] Routt -Havoite table fev this polynomial isa Ta: computed Foy a stable system, we require that theve be no sign change in the Livit column. Fer this, it is necessary that Bok re ond Kye. This implies thet for system stabilily ock 28 When K=§ then the s! you gives zeves. The auxi avy equation is obtatned tveuw the vow preceding the vaw of Feves » that is, the S* vow. The auriliavy eguation is pcsre 2S KS = aha geacsteny acs apancs-ys) The syemetvie veets on imaginayy axis show marginal stability Mew bes) — See 2s*4uses ose Saya ase usee Pass) s+ sh treks Hemee (44) is indeed a factory of pis), 2s te The thivd veots of the Qtlynemial is pes 28 fanz, which ia in the: LP, aud hence would leak te stabi lify, Hemee, on the ovevall, the System is marginally stable, The syrtem chavactevichc equation is Pcs = 42905432) Cs-32) NB. (1) The systen is stable fey voots in LHP 2) The system is unstable Ler posts in RHP, B) The systen ic marginally stable fev symmetric yoofs on imajnavy axis ky The system is marginally stable fey S=o 7 5D The system is wastale fey double veats on Iu. ants, CreThe, Mttem ie stelle: fae doukle vente (2 Kit: