Routh-Hurwitz criterion.
Stability design.
Formal definitions:
An LTI system is stable if the natural response approaches zero as time
approaches infinity.
Hint:
if poles in left half plane (s-plane).
For example l
ant f
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it ll lab n?
s ai tio
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s
is t or
his e fac
t th r
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ith war
w oft
s
How many but not where! So back to the previous questions why
is this method still relevant? Hint: for controller design able to yield
a range of parameters to ensure stability of system.
For example:
Begin by labeling the rows with powers of s from the highest of the
denominator of the closed loop transfer function to s0
The table is complete when all the rows are completed down to
s0.
For example:
Interpretation:
The Routh-Hurwitz criterion declares that the number
of roots of the polynomial that are in the right half
plane is equal to the number of sign changes in the
first column.
Positive number
Negative number
Positive number
Special cases:
T(s)= 10/s5+2s4+3s3+6s2+5s+3
Alternatively
T(s)= 10/s5+2s4+3s3+6s2+5s+3
D(s)= 3s5+5s4+6s3+3s2+2s+1
T(s)= 10/s5+7s4+6s3+42s2+8s+56
P(s)=s4+6s2+8
Differentiating, dP(s)/ds=4s3+12s+0
Assoc Prof Ir Dr Yang Soo Siang 33
ROUTH-HURWITZ CRITERION
Use the coeff from the differentiated polynomial to replace the zeros,
4s3+12s+0