05 Analisis Kestabilan Fbc2

05
Analisis Kestabilan Sistem

Pengendalian Umpan Balik
Tujuan:
Tujuan Mhs mampu menganalisis kestabilan sistem
pengendalian umpan balik
Materi:
Materi
1. Konsep Kestabilan Sistem Loop Tertutup (Stability Concept
of The Closed Loop System)
2. Persamaan Karakteristik (Characteristic Equation)
3. Kestabilan Berdasarkan Ultimate Response
4. Kriteria Kestabilan Routh-Hurwitz
5. Analisis Kestabilan dengan Root Locus
5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK DR. ENG. Y. D. HERMAWAN
INDALPRO / 1
5.1 Konsep Kestabilan Sistem

Loop Tertutup
Designing a FBC (i.e. selecting its
components and tuning its controller)
seriously affects its stability characteristics.
The notion of stability and the stability
characteristics of closed loop systems is
therefore considered to be useful.
Notion of Stability Pemahaman Kestabilan
Stability Characteristic Karakteristik Kestabilan
INDALPRO / 2
5.1 Konsep Kestabilan Sistem Loop Tertutup
The Notion of Stability
(Pemahaman Kestabilan)
How to define about stable and unstable?
A dynamic system is considered to be
stable IF every bounded input produces
bounded output
Bounded : input that always remains

between an upper and a lower limit
sinusoidal, step, but not the rump
INDALPRO / 3
Gambar 5.1.1. Bounded Input

Input
Upper Limit
m(t)
step
sinusoidal
Lower Limit
time
INDALPRO / 4
Gambar 5.1.2. Tanggapan (response) stabil dan tidak stabil

y
Unstable
Stable
Desired value
Unstable
time
INDALPRO / 5
Transfer
Function
y ( s ) = G ( s ) m( s )
m = input, and y = output

If G(s) has a pole with positive real part, it gives
rise to a term C1ept which grows continuously
with time unstable
If TF of dynamic system has even one pole with
positive real part, the system is UNSTABLE
all poles of TF must be in the left-hand part
of a complex plane, for the system to be
STABLE
INDALPRO / 6
Gambar 5.1.3. Complex Plane

Imaginary
Stable
Unstable
Real
INDALPRO / 7
Example 5.1.1: Stabilization of an unstable process

with P Control
Lets consider a process with the following response:
10
5
y(s) =
m( s ) +
d (s)
s 1
s 1
Pole has positive root
s 1 = 0 s = +1
y(t) = C1 et
Open loop unstable response
INDALPRO / 8
Example 5.1.1 (Continued)

Gambar 5.1.4. Tanggapan sistem tak-terkendali terhadap
perubahan satu unit gangguan dengan fungsi tahap
40
unstable
30
20
10
0
0.5
1
Time
1.5
INDALPRO / 9
The closed loop response:

10 K c
5
y( s) =
y sp ( s ) +
d ( s)
s (1 10 K c )
s (1 10 K c )
The transfer function:

5
Gload ( s ) =
s (1 10 K c )
and
10 K c
Gsp ( s ) =
s (1 10 K c )
The closed loop will have negative pole if
1
Kc >
10
STABLE
INDALPRO / 10
Gambar 5.1.5. Penerapan FBC
Note: P only controller with Kc = 1

INDALPRO / 11
Gambar 5.1.6. Tanggapan dinamik sistem terkendali terhadap

perubahan satu unit gangguan dengan fungsi tahap
1
0.8
Stable
0.6
0.4
offset
0.2
0
0.5
1
Time
1.5
Note: Regulatory problem; with Kc = 1

INDALPRO / 12
Example 5.1.2: Destabilization of a stable process
with PI Control
Gambar 5.1.7. Tanggapan stabil

loop terbuka terhadap perubahan
satu unit gangguan dengan fungsi
tahap
process with 2nd order TF:
1
Gp ( s ) = 2
s + 2s + 2
0.6
System has two complex poles:
0.4
p1 = -1 + j
p2 = -1 j
0.5
0.3
0.2
0.1
Therefore, System is stable
0
0
10
Time (second)
INDALPRO / 13

Implementation of PI Control
Assume that Gm = Gf = 1
The closed loop
response for servo
problem
y( s) =
GC ( s ) = K C 1 +
Is
G p Gc
1 + G p Gc
y sp ( s ) = Gsp ( s ) ysp ( s )
K c ( I s + 1)
1
I s +1
Kc
2
Is
I
s + 2s + 2
=
Gsp ( s ) =
1
I s +1
Kc
3
2
1+ 2
Kc
s + 2 s + (2 + K c )s +
Is
s + 2s + 2
I
INDALPRO / 14
Let Kc = 100 and I = 0.1

Poles of Gsp: s3 + 2s2 + (2+100)s + 100/0.1
P1 = -7.18 ; p2 = 2.59 + 11.5j ; P3 = 2.59 11.5j
Gambar 5.1.8. Tanggapan tidak stabil dari loop tertutup
10
-5
-10
0
0.2
0.4
0.6
0.8
Time (second)
INDALPRO / 15

Gambar 5.1.9. Tanggapan stabil loop tertutup
1.8
1.6
Kc = 10 and I = 0.5
1.4
1.2
1
0.8
0.6
0.4
0.2
0
10
15
20
25
Time (second)
30
35
40
INDALPRO / 16
5.2 The Characteristic Equation

The closed loop response of FBC :
G p G f Gc
Gd
y sp ( s ) +
d ( s)
y ( s) =
1 + G p G f Gc Gm
1 + G p G f Gc Gm
y ( s ) = Gsp ( s ) ysp ( s ) + Gload ( s )d ( s )
denominator
The characteristic equation :

1 + GpGfGcGm = 0
INDALPRO / 17
5.2 Persamaan Karakteristik
Let p1, p2, , pn be the n roots of the

Characteristic Equation
1 + GpGfGcGm = (s p1) (s p2) (s pn)

Stability criterion of a closed loop system
A FBC system is stable if all the roots of its

characteristic equation have negative real
part (i.e. are to the left of the imaginary axis)
INDALPRO / 18
Example 5.2.1: Stability analysis of FBC based

on characteristic equation
Again, consider Ex. 5.1.1
10
Gp =
s 1
Gf =1
Gm = 1
Gc = K c
characteristic equation:
10
1 + G p G f Gc Gm = 1 +
(1)(K c )(1) = 0
s 1
Which has the root: p = 1 10Kc
The system is stable IF p < 0
1
Kc >
10
INDALPRO / 19

Again, consider Ex. 5.1.2
1
Gp = 2
s + 2s + 2
; G f = 1 ; Gm = 1 ; Gc = K c 1 +
Is
K c I s + K c
1
= 0
1 + G p G f Gc Gm = 1 + 2
(1) (1)
Is
s + 2s + 2
s + 2 s + (K c + 2)s +
3
Kc
=0
Which has three roots,

Kc and I affect the value of roots
(i.e. positive or negative)
INDALPRO / 20
5.3 Kestabilan Berdasarkan Ultimate

Response
Pada bagian ini kita akan membahas batasan kestabilan berdasarkan respon
kritis (ultimate response).
Ingat kembali! Respon stabil jika akar-akar denominator pada FT adalah
negatif (di sebelah kiri sumbu imaginer pada bidang kompleks).
Metode Substitusi Langsung
Metode ini sangat mudah untuk mencari parameter-parameter
pengendalian yang mana dapat menghasilkan respon stabil.
Jika pers. karakteristik mempunyai satu atau dua akar yang terletak tepat
pada sumbu imaginer, maka menghasilkan respon kritis (osilasi terjaga).
Ultimate Gain, Kcu: gain pengendali yang mana dapat menghasilkan
respon kritis.
INDALPRO / 21
5.3 Kestabilan Berdasarkan Ultimate Response
Gambar 5.3.1 respon loop tertutup dengan Kc = Kcu

Tu
c(t)
1.1
1
0.9
0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
-0.1
-0.2 0
-0.3
-0.4
-0.5
-0.6
-0.7
-0.8
-0.9
-1
-1.1
10
15
20
C (t ) = sin (u t + )
Tu =
25
30
Ultimate period
u = ultimate frequency
INDALPRO / 22
Persamaan Karakteristik loop tertutup: denominator dari FT loop tertutup
1 + G p (s )G f (s )Gc (s )Gm (s ) = 0
... (5.3.1)
Substitusi langsung: s = i u
Bagian real
=0
Bagian imaginer = 0
Penyelesaian secara simultan

menghasilkan ultimate gain, Kcu
Contoh 5.3.1: mencari Kcu dan u untuk pengendali suhu pada HE

To set (t), oC
Steam
M(t), %CO
Ws(t), kg/s
TC
C(t), %TO
TT
Process fluid
Ti(t), oC
To(t), oC
W(t), kg/s
Condensate
INDALPRO / 23
Gambar 5.3.2. Diagram blok pengendali suhu pada HE

W(s)
Gw(s)
kg/s
set (t), oC
To
Ksp
R(s) +
E(s)
%TO
%TO
M(s)
Gc(s)
%CO
Gv(s)
Ws (s)
GS(s)
kg/s
To(t), oC
C(s), %TO
Gm(s)
dimana:
o
50
C
(
)
GS s =
30 s + 1 kg / s
0.016 kg / s
Gv (s ) =
3s + 1 %CO
1 %TO
Gm (s ) =
10s + 1 o C
%CO
Gc (s ) = K c
%TO
P Control
INDALPRO / 24
Persamaan Karakteristik loop tertutup:
1 + Gm (s )GS (s )Gv (s )Gc (s ) = 0

1 50 0.016
1+
Kc = 0
10 s + 1 30 s + 1 3s + 1
Penyusunan kembali persamaan di atas diperoleh:
(10s + 1)(30s + 1)(3s + 1) + 0.80 K c = 0

900 s 3 + 420 s 2 + 43s + 1 + 0.80 K c = 0
Substitusi s = i u pada Kc = Kcu:
900i 3u3 + 420i 2u2 + 43iu + 1 + 0.80 K c = 0

i2 = 1
( 420
2
u
) (
+ 1 + 0.80 K c + i 900u3 + 43u = 0 + i 0
INDALPRO / 25
Bagian real dan imaginer harus sama dengan nol:
420u2 + 1 + 0.80 K c = 0
900u3 + 43u = 0
Kedua pers. di atas diselesaikan secara simultan, menghasilkan:
u = 0
Kcu = 1.25 %CO/TO
u = 0.2186 rad/sec
Kcu = 23.8 %CO/TO
relevant
Jadi diperoleh ultimate period:
2
Tu =
= 28.7 sec
0.2186
Jika diinginkan
respon STABIL,
maka Kc < Kcu
INDALPRO / 26
Gambar 5.3.3. Tanggapan kritis pengendali suhu terhadap perubahan

satu unit set point dengan fungsi tahap (Contoh 5.3.1)
Temperature [degC]
Kc = Kcu = 23.8
1
0.5
0
-0.5
50
100
Time [sec]
150
200
50
100
Time [sec]
150
200
Steam [kg/sec]
-0.1
-0.2
INDALPRO / 27
Gambar 5.3.4. Tanggapan stabil pengendali suhu terhadap perubahan

satu unit set point dengan fungsi tahap (Contoh 5.3.1)
Temperature [degC]
Kc = 10
2
1
0
-1
50
100
150
200
150
200
Time [sec]
Steam [kg/sec]
-0.1
-0.2
50
100
Time [sec]
INDALPRO / 28
Gambar 5.3.5. Tanggapan tidak stabil pengendali suhu terhadap

perubahan satu unit set point dengan fungsi tahap (Contoh 5.3.1)
Temperature [degC]
Kc = 30
5
-5
50
100
Time [sec]
150
200
50
100
Time [sec]
150
200
Steam [kg/sec]
0.5
0
-0.5
-1
INDALPRO / 29
5.4 Routh-Hurwitz Stability Criterion

Does not require calculation of actual
values of the roots of the characteristic
equation.
But, it only requires that we know if any
root is to the right of imaginary axis
Make a conclusion as to the stability of
closed loop system quickly without
computing the actual values of the roots
INDALPRO / 30
5.4 Kriteria Kestabilan Routh-Harwitz
Expand the characteristic eq. into the following

polynomial form
1 + GpGfGcGm ao sn + a1 sn-1 + + an-1 s + an = 0
Let ao be positive, if it is negative, multiply both
sides of equation by 1.
First Test: If any of coefficients a1 , a2 , , an-1 , an is
negative; there is at least one root of the characteristic
eq. which has positive real part UNSTABLE
Second Test: If all coefficients a1 , a2 , , an-1 , an are
positive; Then, from the 1st test we cannot conclude
anything about the location of the roots. Form the
following array (known as Routh array):
INDALPRO / 31
Routh Array
Row
1
2
3
4
5
.
n+1
a0
a1
a2
a3
a4
a5
a6
a7
A1
B1
C1
.
W1
A2
B2
C2
.
W2
A3
B3
A3
.
.
.
.
.
INDALPRO / 32
Where
a1a2 a0 a3
A1 =
a1
a1a4 a0 a5
A2 =
a1
A1a3 a1 A2
B1 =
A1
A1a5 a1 A3
B2 =
A1
B1 A2 A1 B2
C1 =
B1
B1 A3 A1 B3
C2 =
B1
a1a6 a0 a7
A3 =
a1
. . .
. . .
. . .
etc.
INDALPRO / 33
Examine the elements of the first

column of the array above
a0 a1
A1
B1
C1
...
W1
If any of these elements is negative, we have at

least one root to the right of the imaginary axis
and the system is UNSTABLE
The number of sign changes in the elements of
the first column is equal to the number of roots
to the right of the imaginary axis
A system is STABLE IF all the elements in the

first column of the Routh Array are POSITIVE
INDALPRO / 34
Example 5.4.1: Stability Analysis with the RouthHurwitz Criterion

Consider FBC system in Ex. 5.1.2, Its Characteristic eq. is
s + 2 s + (K c + 2 )s +
3
Routh array is:

Row
Kc
=0
1st Column
2 + Kc
Kc
3
4
2(2 + K c )
2
Kc
I
0
Kc
INDALPRO / 35

The elements of the first column are:
1, 2,
2(2 + K c )
2
Kc
Kc
I
Third element can be positive or negative

depending on the values of Kc and I
The system is STABLE if Kc and I satisfy
the condition:
2(2 + K c ) >
Kc
INDALPRO / 36
Example 5.4.2: Critical stability Conditions for FBC

Return to Ex.5.4.1, and Let I= 0.1
3rd
element becomes:
2(2 + K c ) 10 K c
2
IF Kc = 0.5 third element = 0 critical condition,

two roots on imaginary axis (pure
imaginary) j(1.58)
sustained sinusoidal response
IF Kc < 0.5 third element is positive STABLE
IF Kc > 0.5 third element is negative UNSTABLE
INDALPRO / 37
Gambar 5.4.1. Tanggapan kritis dari sistem terkendali terhadap

Kc = 0.5 ; thoi = 0.1
2
CV
1.5
1
0.5
0
10
15
10
15
Time [sec]
6
MV
4
2
0
-2
Time [sec]
INDALPRO / 38
Gambar 5.4.2. Tanggapan stabil dari sistem terkendali terhadap

Kc = 0.1 ; thoi = 0.1
1.5
CV
1
0.5
0
10
15
10
15
Time [sec]
3
MV
2
1
0
5
Time [sec]
INDALPRO / 39
Gambar 5.4.3. Tanggapan tidak stabil dari sistem terkendali terhadap

Kc = 1 ; thoi = 0.1
20
CV
10
0
-10
-20
10
15
10
15
Time [sec]
100
MV
0
-100
-200
5
Time [sec]
INDALPRO / 40
5.5 Analisis Kestabilan dengan Root-Locus
5.5 Root-Locus Analysis

Root Locus is a graphical technique that
consists of graphing the roots of the
characteristic equation
The resulting graph allows to see whether
a root crosses the imaginary axis to the
right hand side of the s-plane
INDALPRO / 41
Example 5.5.1: Root locus for a Reactor with P Control

R
Flow rate = F m
A
Flow rate = m
Reactions:
A+RB
B+RC
C+RD
Flow rate = F
D+RE
Concentration in C = y
The control objective is to keep the concentration of

the desired product C as close as possible to its set
point by manipulating the flow rate of A
INDALPRO / 42
Example 5.5.1: (Continued)

2.98(s + 2.25)
y( s)
=
TF of the process: G p ( s ) =
m( s ) (s + 1.45)(s + 2.85)2 (s + 4.35)
Implementation of P Control with Gc(s) = Kc , and

Assume that Gm = Gf = 1, we have the following
1 +
2.98(s + 2.25)
Kc = 0
2
(s + 1.45)(s + 2.85) (s + 4.35)
S4 + 11.5 s3 + 47.49 s2 + (2.98Kc + 83.0633)s

+ (6.705Kc + 51.2327) = 0
INDALPRO / 43
Roots of the characteristic equation

(for ex. 5.5.1)
Kc
p1
p2
p3
p4
1.45
2.85
1.92
2.34 + 0.82 j 2.34 0.82 j 4.89
2.20
1.76 + 1.88 j 1.76 1.88 j 5.77
20
2.23
1.06 + 3.23 j 1.06 3.23 j 7.14
50
2.24
0.38 + 4.48 j 0.38 4.48 j 8.49
100
2.25
+0.30 + 5.70 j +0.30 5.70 j 9.85
2.85
2.85
INDALPRO / 44
Gambar 5.5.1. Root-Locus of the reactor in Ex. 5.5.1

Root Locus
20
15
10
Imaginary Axis
-5
-10
-15
-20
-20
-15
-10
-5
10
15
Real Axis
INDALPRO / 45
Gambar 5.5.2. Tanggapan stabil loop terkendali terhadap

perubahan satu unit set-point (Ex. 5.5.1)
1.5
New set-point
Kc = 50
Kc = 20
Offset
0.5
Kc = 5
Kc = 1
0
10
12
Time (Sec)
14
16
18
20
INDALPRO / 46
Gambar 5.5.3. Tanggapan kritis dari loop terkendali

terhadap perubahan satu unit set-point (Ex. 5.5.1)
2
Critical condition
Kc = 75
1.5
0.5
10
12
Time (Sec)
14
16
18
20
INDALPRO / 47
Gambar 5.5.4. Tanggapan tak-stabil dari loop terkendali

terhadap perubahan satu unit set-point (Ex. 5.5.1)
300
Kc = 100
200
100
-100
-200
-300
10
12
Time (Sec)
14
16
18
20
INDALPRO / 48

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05

Analisis Kestabilan Sistem

5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK DR. ENG. Y. D. HERMAWAN

5.1 Konsep Kestabilan Sistem

5.1 Konsep Kestabilan Sistem Loop Tertutup

The Notion of Stability

Bounded : input that always remains

5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK DR. ENG. Y. D. HERMAWAN

5.1 Konsep Kestabilan Sistem Loop Tertutup

Gambar 5.1.1. Bounded Input

5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK DR. ENG. Y. D. HERMAWAN

5.1 Konsep Kestabilan Sistem Loop Tertutup

Gambar 5.1.2. Tanggapan (response) stabil dan tidak stabil

5.1 Konsep Kestabilan Sistem Loop Tertutup

m = input, and y = output

5.1 Konsep Kestabilan Sistem Loop Tertutup

Gambar 5.1.3. Complex Plane

5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK DR. ENG. Y. D. HERMAWAN

5.1 Konsep Kestabilan Sistem Loop Tertutup

Example 5.1.1: Stabilization of an unstable process

5.1 Konsep Kestabilan Sistem Loop Tertutup

Example 5.1.1 (Continued)

5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK DR. ENG. Y. D. HERMAWAN

5.1 Konsep Kestabilan Sistem Loop Tertutup

Example 5.1.1 (Continued)

The closed loop response:

The transfer function:

The closed loop will have negative pole if

5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK DR. ENG. Y. D. HERMAWAN

5.1 Konsep Kestabilan Sistem Loop Tertutup

Example 5.1.1 (Continued)

Gambar 5.1.5. Penerapan FBC

Note: P only controller with Kc = 1

5.1 Konsep Kestabilan Sistem Loop Tertutup

Gambar 5.1.6. Tanggapan dinamik sistem terkendali terhadap

Note: Regulatory problem; with Kc = 1

5.1 Konsep Kestabilan Sistem Loop Tertutup

Example 5.1.2: Destabilization of a stable process

Gambar 5.1.7. Tanggapan stabil

process with 2nd order TF:

System has two complex poles:

Therefore, System is stable

5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK DR. ENG. Y. D. HERMAWAN

5.1 Konsep Kestabilan Sistem Loop Tertutup

Example 5.1.2 (Continued)

5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK DR. ENG. Y. D. HERMAWAN

5.1 Konsep Kestabilan Sistem Loop Tertutup

Example 5.1.2 (Continued)

Let Kc = 100 and I = 0.1

5.1 Konsep Kestabilan Sistem Loop Tertutup

Example 5.1.2 (Continued)

5 - ANALISIS KESTABILAN SISTEM PENGENDALIAN UMPAN BALIK DR. ENG. Y. D. HERMAWAN

5.2 The Characteristic Equation

y ( s ) = Gsp ( s ) ysp ( s ) + Gload ( s )d ( s )

The characteristic equation :

5.2 Persamaan Karakteristik

Let p1, p2, , pn be the n roots of the

1 + GpGfGcGm = (s p1) (s p2) (s pn)

A FBC system is stable if all the roots of its

5.2 Persamaan Karakteristik

Example 5.2.1: Stability analysis of FBC based

5.2 Persamaan Karakteristik

Example 5.2.1 (Continued)

Which has three roots,