Example 14.4.

Determine the stability of the system shown in Fig. 14.1. for which a PI controller is used 1 =
1
1
3
2 ,
3 ,Kc = 5, I 0.25
1,
Cara I :
2

G2

G2

Ys
, X s 1
Xs

G2

I s 1
I s

PI controller

Syarat kestabilan:
1 + G(s) = 0
PI. G(s) = Kc. G. H. G2
Is 1
PI. G(s) = Kc. G. H. Is
I s 1
1
1
= Kc . (1s 1)( 2s 1) . ( 3s 1) . I s
1
s 1
1
1
4
1
1
1
s
(s 1)( s 1) ( s 1)
2
= Kc .
. 3
. 4
1
s 1
4
1
1
1
1
1
( s 3 s 2 s 2 1,5s s 1)
s
2
2
3
= Kc . 6
. 4
1
s 1
1
4
1
1
11
( s 3 s 2 s 1)
s
6
= Kc . 6
. 4

1
( s 1)
4
1 4 1 3 11 2 1
( s s s s)
4
24
4
= Kc . 24
Syarat kestabilan :
1 + G(s) = 0
1
Kc( s 1)
4
1 4 1 3 11 2 1
( s s s s)
4
24
4 =0
1 + 24
6Kcs 24Kc
4
3
2
1 + s 6s 11s 6s
=0
6 Kcs + 24 Kc + s4 + 6s3 + 11s2 + 6s = 0
Jika Kc = 5,
6.5 s + 24. 5 + s4 + 6s3 + 11s2 + 6s = 0
36 s + 120 + s4 + 6s3 + 11s2 = 0
a0 = 1
a1 = 6

a2 = 11
a3 = 36

a4= 120

a1 a 2 a 0 a3 6 11 1 36
a1
6
b1 =
=

=5

a 1a 4 a 0 a 5 6 120 1 0
a1
6
b2 =
=
= 120

b1 a 3 a1b2
5 36 6 120
b
5
1
c1 =
=
= -108
c1 b 2 b 1c 2
108 120 5 0
c
108
1
d1 =
=
= 120

Row
1

11

36

120

-108

120

120

Sistem tidak stabil jika Kc = 5, karena Routh array pada kolom 1 ada yang bernilai Negatif
yaitu -108

Soal 1.
C
a. R .. ?
b. Apakah stabil jika Kc = 6?

Figure P.14.10.
Jawab:
a) Karakteristik persamaan untuk pengendalian sistem
G1Gc
G1
R
U
1 G1Gc H
C = 1 G1Gc H

G1

Kc 1
s

=
1
= 4s 1

H
G(s)

1
= s 1
= GcG1H

Gc

1
1
Kc 1
s 4s 1 s 1

=
1
Kcs 4Kc
1
s
=
4s 1 s 1
Kcs 4Kc
= (s)( 4s 1)(s 1)
Kcs 4Kc
3
2
= 4s 5s s
Syarat kestabilan:
1 + G(s) = 0
Kcs 4Kc
3
2
1 + 4s 5s s = 0
Kcs 4Kc
4s 3 5s 2 s = -1

Kcs + 4Kc = -[4s3 + 5s2 + s]

Kcs + 4Kc + 4s3 + 5s2 + s = 0
4s3 + 5s2 + (1+Kc)s + 4Kc = 0

b) Kc = 6 , Cek Kestabilan sistem

4s3 + 5s2 + 7s + 24 = 0
a0 = 4
a2 = 7
a1 = 5
a3 = 24

a1 a 2 a 0 a3 5 7 4 24
a1
5
b1 =
=
= -12,2
b1 a 3 a1b2
12,2 24 5 0
b1
12,2
c1 =
=
= 24
Row
1

24

-12,2

4
24
0
Sistem tidak stabil jika Kc = 6, karena Routh array pada kolom 1 ada yang bernilai Negatif
yaitu -12,2
Problems 14.1
Write the characteristic equation and construct the routh array for the control system shown
in figure P14.1. Is the system stable for :
(a) Kc = 9,5
(b) Kc = 11
(c)Kc = 12

Figure P14.1.
C
R

G
H
G(s)

G
= 1 GH

1
= Kc ( s 1)(0,5s 1)
3
= s3
= GH

1
3
= Kc ( s 1)(0,5s 1) s 3
3Kc
= ( s 1)(0,5s 1)( s 3)
Syarat kestabilan:

Secara Teori
1 + G(s) = 0

3Kc
1 + ( s 1)(0,5s 1)( s 3) = 0
3Kc
( s 1)(0,5s 1)( s 3) = -1
3Kc = -[(s + 1)(0,5s + 1)(s + 3)]
3Kc + [(s + 1)(0,5s + 1)(s + 3)] = 0
3Kc + (0,5s2 + s + 0,5s + 1)(s + 3) = 0
3Kc + (0,5s2 + 1,5s + 1)(s + 3) = 0
3Kc + 0,5s3 + 1,5s2 + s + 1,5s2 + 4,5s + 3 = 0
3Kc + 0,5s3 + 3s2 + 5,5s + 3 = 0
a1 a 2 a 0 a3
a1
b =
1

a1 a 4 a 0 a5
a1
b2 =
b1 a 3 a1b2
b1
c1 =
b1 a5 a1b3
b1
c =
2

c1b2 b1c 2
c1
d1 =
c1b3 b1c3
c1
d2 =
a. Kc = 9,5
3Kc + 0,5s3 + 3s2 + 5,5s + 3 = 0
3 (9,5) + 0,5s3 + 3s2 + 5,5s + 3 = 0
0,5s3 + 3s2 + 5,5s + 31,5 = 0
a0 = 0,5
a2 = 5,5
a1 = 3
a3 = 31,5
a1 a 2 a 0 a3 3 5,5 0,5 31,5
a1
3
b =
=
1

= 0,25

b1 a 3 a1b2
0,25 31,5 3 0
b1
0,25
c1 =
=
= 31,5
Row
1

0.5

5,5

31.5

0,25

4
31,5
0
Kesimpulan:
K1 > 0 (Semua routh array pada kolom 1 bernilai Positif), maka sistem STABIL
b. Kc = 11
3Kc + 0,5s3 + 3s2 + 5,5s + 3 = 0
3 (11) + 0,5s3 + 3s2 + 5,5s + 3 = 0
0,5s3 + 3s2 + 5,5s + 36 = 0
a0 = 0,5
a2 = 5,5
a1 = 3
a3 = 36
a1 a 2 a 0 a3 3 5,5 0,5 36
a1
3
b1 =
=
= -0,5
b1 a 3 a1b2
0,5 36 3 0
b1
0,5
c =
=
= 36
1

Row
1

0,5

5.5

36

-0,5

4
36
0
Kesimpulan:
Routh array pada kolom 1 ada yang bernilai Negatif yaitu -0,5, maka sistem TIDAK STABIL
untuk Kc = 11
c. Kc = 12
3Kc + 0,5s3 + 3s2 + 5,5s + 3 = 0
3 (12) + 0,5s3 + 3s2 + 5,5s + 3 = 0
0,5s3 + 3s2 + 5,5s + 39 = 0
a0 = 0,5
a2 = 5,5
a1 = 3
a3 = 39
a1 a 2 a 0 a3 3 5,5 0,5 39
a1
3
b1 =
=
= -1
b1 a 3 a1b2
1 39 3 0
b1
1
c =
=
= 39
1

Row
1

0.5

5.5

39

-1

4
39
0
Kesimpulan:
Routh array pada kolom 1 ada yang bernilai Negatif yaitu -1, maka sistem TIDAK STABIL
untuk Kc = 12

Problem 14.2.
By means of the routh test, determine the stability of the system shown in figure P14.2. when
Kc = 2.

Figure P14.2.
C
R

G
H
G(s)

G
= 1 GH
3

Kc 1
s Kv 2

=
1
2
= 0,2 s 0,4s 1

= GH
1
3

Kc 1
2
s 2 0,2 s 0,4s 1

=
1
3Kc

Kc

2
s 2 0,2 s 0,4s 1
=

1
sKc 3Kc

2
s
2 0,2 s 0,4s 1
=
( sKc 3Kc) 2
2
= ( s )(0,2s 0,4 s 1)
2 sKc 6 Kc
3
2
= 0,2 s 0,4 s s
Syarat kestabilan:
1 + G(s) = 0
2 sKc 6 Kc
3
2
1 + 0,2 s 0,4 s s = 0
2 sKc 6 Kc
0,2 s 3 0,4 s 2 s = -1
2sKc + 6Kc = -(0,2s3 + 0,4s2 + s)
2sKc + 6Kc + 0,2s3 + 0,4s2 + s = 0
4s + 12 + 0,2s3 + 0,4s2 + s = 0
0,2s3 + 0,4s2 + 5s + 12 = 0 [saat Kc = 2, sistem tidak stabil]
a0 = 0,2
a2 = 5
a1 = 30,4
a3 = 12
a1 a 2 a 0 a3 0,4 5 0,2 12
a1
0,4
b =
=
= -1
1

b1 a 3 a1b2
1 12 0,4 0
b
1
1
c1 =
=
= 12
Row
1

0.2

0.4

12

-1

4
12
0
Kesimpulan:
Routh array pada kolom 1 ada yang bernilai Negatif yaitu -1, maka sistem TIDAK STABIL
untuk Kc = 2
Problem 14.8.
Given the control diagram shown in figure P14.8. deduce by means of the routh criterion
those values of 1 for which the output C is stable for all input R and U.

Figure P14.8.
1
s 1
U = 4
1
G2 = ( 1 s 1)( 2 s 1)
1
G = 1s
1

H = 3s+1
G1G2
G2
R
U
1 G1G2 H
C = 1 G1G2 H
G(s)

= G1G2HU
1
1
1
= 1 s ( 1 s 1)( 2 s 1) (3s+1) 4 s 1
3s 1
= ( 1 s)( 1 s 1)( 2 s 1)( 4 s 1)

Syarat kestabilan:

1 + G(s) = 0

3s 1
1 + ( 1 s )( 1 s 1)( 2 s 1)( 4 s 1) = 0
3s 1
( 1 s )( 1 s 1)( 2 s 1)( 4 s 1) = -1
3s + 1 = -[(1s)(1s + 1)( 2s + 1)]
3s + 1 + [(1s)(1s + 1)(2s + 1)( 4s + 1)] = 0
3s + 1 + [(1s2 + 1s)( 2s + 1)(4s + 1)] = 0
3s + 1 + [(1s2 2s + 1s 2s + 1s2 + 1s)( 4s + 1)] = 0
3s + 1 + [1s2 2s 4s + 1s 2s 4s + 1s2 4s + 1s 4s + 1s2 2s + 1s 2s + 1s2 + 1s] =
3s + 1 + (1 + 2s 4s + 4s + 2s ) 1s2 + (2s 4s + 4s + 2s + 1) 1s = 0
(1 + 2s 4s + 4s + 2s ) 1s2 + (2s 4s + 4s + 2s + 1) 1s + 3s + 1 = 0
(1 + 2s 4s + 4s + 2s ) 1s2 + ((2s 4s + 4s + 2s + 1) 1 + 3)s + 1 = 0
a1 a 2 a 0 a3
a1
b =
=1
1

a1 a 4 a 0 a5
a1
b2 =
=0
b1 a 3 a1b2
b1
c1 =
=0
Row
1

(1 + 2s 4s + 4s + 2s) 1

((2s 4s + 4s + 2s + 1) 1 + 3)

3
T1 > 0 sistem stabil.

Problem 14.9.
In the control system shown in figure P14.9. find the value of Kc for which system is on the
verge of instability. The controller is replace by a PD controller for which the transfer
function is Kc(Ds + 1). If Kc = 10, determine the range of D for which the system is stable.

Figure P14.9.
Gc = Kc
Karena sistem tersebut tidak stabil maka Gc diganti menjadi:
Gc = Kc(Ds + 1)
1
3
G
= ( s 1)
1

C
R

G
= 1 G
= G1G2

G(s)

1
3
= Kc(Ds + 1) ( s 1)
Kc( D s 1)
3
= ( s 1)
a. Mencari Nilai Kc untuk sistem Tidak Stabil
1 + G(s) = 0
1
3
G
= Kc ( s 1)
(s)

Kc
3
G(s)
= ( s 1)
1 + G(s) = 0
Kc
3
1 + ( s 1) = 0
( s 1) 3 Kc
( s 1) 3 = 0
( s 1) 3 Kc = 0
S3+3s2+3s+1+Kc =0
a0 = 1
a1 = 3

a2 = 3
a3 = 1+Kc

a1 a 2 a 0 a3 3 3 1 1 Kc
8 Kc
a1
3
3
b1 =
=
=
Row
1

3
8 Kc
3

1+Kc

Syarat Sistem Tidak stabil nilai Kolom 1 (K1) 0

8 Kc
3
0
8 Kc
Kc 8
Sistem tidak stabil jika
Kc {8,9,10.........n)

b. Jika Nilai Kc=10, Berapa Nilai D agar sistem stabil?

Syarat kestabilan:
1 + G(s) = 0
Kc( D s 1)
( s 1) 3 = 0
1+

Kc( D s 1)
( s 1) 3 = -1
Kc(Ds + 1) = -[(s + 1)3]
Kc(Ds + 1) + (s + 1)3 = 0
Jika Kc = 10
Kc(Ds + 1) + (s + 1)3 = 0
10Ds + 10 + s3 + 3s2 + 3s + 1 = 0
s3 + 3s2 + (10D + 3)s + 11 = 0
a0 = 1
a2 = 10D + 3
a1 = 3
a3 = 11
a1 a 2 a 0 a3 3 10 .D + 3 1 11
a1
3
b =
=
1

10 .D 2
3
=

10 .D 2

11 3 10
3

10 .D 2
3
=
= 11

b1 a 3 a1b2
b1
c1 =
Row
1

10D + 3

3
11
10 .D 2
3
0
3
4
11
0
Kesimpulan:
K1 > 0 (Semua routh array pada kolom 1 bernilai Positif), maka sistem STABIL
Dengan nilai D:
2
10D - 3 > 0
2
10D > 3
2 1

D > 3 10
2
D > 30

1
D > 15

D > 0,067

Problem 14.10.
c. Write the characterictic equation for the control system shown in figure P14.10.
d. Use the routh test to determine if the system is stable for Kc = 4
e. Determine the ultimate value of Kc, above which the system is unstable.

Figure P.14.10.
Jawab:
c) Karakteristik persamaan untuk pengendalian sistem
G1Gc
G1
R
U
1

G
G
H
1

G
G
H
1
c
1
c
C =

G1

Kc 1
s

=
1
= 2s 1

H
G(s)

1
= s 1
= GcG1H

Gc

1
1
Kc 1
s

2s 1 s 1
=
Kcs 2 Kc
1
1
s
=
2s 1 s 1
Kcs 2 Kc
= ( s )( 2 s 1)( s 1)
Kcs 2 Kc
3
2
= 2 s 3s s
Syarat kestabilan:
1 + G(s) = 0
Kcs 2 Kc
3
2
1 + 2s 3s s = 0
Kcs 2 Kc
2s 3 3s 2 s = -1
Kcs + 2Kc = -[2s3 + 3s2 + s]
Kcs + 2Kc + 2s3 + 3s2 + s = 0
2s3 + 3s2 + (1+Kc)s + 2Kc = 0

d) Kc = 4 , Cek Kestabilan sistem

2s3 + 3s2 + 5s + 8 = 0
a0 = 2
a2 = 5
a1 = 3
a3 = 8

a1 a 2 a 0 a3 3 5 2 8
a1
3
b1 =
=
= -0,333
b1 a 3 a1b2
0,333 8 3 0
b1
0,333
c1 =
=
=8
Row
1

-0.333

4
8
0
Sistem tidak stabil jika Kc = 4, karena Routh array pada kolom 1 ada yang bernilai Negatif
yaitu -0,333,
e) Nilai Kc agar sistem Tidak stabil
2s3 + 3s2 + (1+Kc)s + 2Kc = 0
a0 = 2
a2 = 1+Kc
a1 = 3
a3 = 2Kc

a1 a 2 a 0 a3 3 1 Kc 2 2 Kc
a1
3
b1 =
=

3 Kc
3
=

Row
1

1+Kc

3
2Kc
3 Kc
3
0
3
Syarat sistem tidak stabil Routh Array pada kolom 1 harus 0
3 Kc
3 0
3 Kc 0
3 Kc
Kc 3
Kc {3,4,5,.......n)

Problem 14.11.
For the system in figure P14.11. the characteristic equation is:
s4 + 4s3 + 6s2 + 4s + (1+K) = 0
a. Determine the value of K above which the system is unstable.
b. Determine the value of K for which two of the roots are on the imaginary axis, and
determine the value of these imaginary roots and the remaining two roots.

Figure P14.11.
a) Persamaan Menjadi:
s4 + 4s3 + 6s2 + 4s + (1+K) = 0
a0 = 1
a2 = 6
a4 = 1+K
a1 = 4
a3 = 4
a1 a 2 a 0 a3 4 6 1 4
a1
4
b1 =
=
=5
a1 a 4 a 0 a5 4 1 K 1 0
a1
4
b =
=
= 1+K
2

b1 a 3 a1b2
5 4 4 1 K 16 4 K
b
1
5
5
c1 =
=
=
Row
1

5
16 4 K
5

1+K

1+
K

Syarat sistem tidak stabil Routh Array pada kolom 1 0

16 4 K
5
0
16 - 4K 0
16 4K
K4
b) Imajiner
Cs2 + D = 0
C
=4
16 4 K 16 4 4
5
5
D
=
=
=0
D = b1 = 5

Cs2 + D = 0
4s2 + D = 0
4s2 + 5 = 0
4s2 = -5

s2

=j

5
4 = -1,25
1,25

= 1,25 , - 1,25
1 + G(s) = 0

1 1

3
s 1
1 + k s 1
=0

=0
1+k

1
s 1 s 1 s 1 s 1
=0
1 + k
1

s 4 2 s 3 s 2 2s 3 4s 2 2s s 2 2s 1
1+k
=0
1

s 4 4 s 3 6s 2 4 s 1
1+k
=0
s 4 4 s 3 6 s 2 4 s 1 +K = 0
s 4 4 s 3 6 s 2 4 s + (1+K) = 0
a0 = 1
a1 = 4

a2 = 6
a3 = 4

a4 = 1+K