Course roadmap

ME451: Control Systems Modeling Analysis Design

Laplace transform Time response

Design specs
• Transient
Lecture 10 Transfer function • Steady state
Root locus
Routh-Hurwitz stability criterion
Models for systems Frequency response
Frequency domain
• electrical • Bode plot
• mechanical
PID & Lead-
Lead-lag
• electromechanical Stability
Dr. Jongeun Choi • Routh-
Routh-Hurwitz
Design examples
Department of Mechanical Engineering Linearization • Nyquist

Michigan State University

(Matlab simulations &) laboratories

1 2

Stability summary (review) Routh-Hurwitz criterion

Let si be poles of ƒ This is for LTI systems with a polynomial
rational G. Then, G is … denominator (without sin, cos, exponential etc.)
ƒ It determines if all the roots of a polynomial
ƒ (BIBO, asymptotically) stable if ƒ lie in the open LHP (left half-
half-plane),
Re(si)<0 for all i. ƒ or equivalently, have negative real parts.
ƒ marginally stable if ƒ It also determines the number of roots of a
ƒ Re(si)<=0 for all i, and polynomial in the open RHP (right half-plane).
ƒ simple root for Re(si)=0
ƒ It does NOT explicitly compute the roots.
ƒ unstable if
it is neither stable nor
marginally stable.
3 4
 Polynomial and an assumption Routh array
ƒ Consider a polynomial From the given
polynomial

ƒ Assume
ƒ If this assumption does not hold, Q can be factored as

where
ƒ The following method applies to the polynomial

5 6

Routh array Routh array

(How to compute the third row) (How to compute the fourth row)

7 8
 Routh-Hurwitz criterion Example 1

Routh array

The number of roots

in the open right half-
half-plane
is equal to
the number of sign changes Two sign changes Two roots in RHP
in the first column of Routh array. in the first column

9 10

Example 2 Example 3

Routh array Routh array

If 0 appears in the first column of a If zero row appears in Routh array, Q
nonzero row in Routh array, replace it has roots either on the imaginary axis
with a small positive number. In this or in RHP.
case, Q has some roots in RHP.

Two sign changes Two roots No sign changes No roots

in the first column in RHP in the first column in RHP
But some
Take derivative of an auxiliary polynomial roots are on
(which is a factor of Q(s))
Q(s)) imag.
imag. axis.
11 12
 Example 4 Simple & important criteria for stability
ƒ 1st order polynomial
Find the range of K s.t.
s.t. Q(s)
Q(s) has all roots in the left
half plane. (Here, K is a design parameter.)

Routh array
No sign changes ƒ 2nd order polynomial
in the first column

ƒ Higher order polynomial

13 14

Examples Summary and Exercises

All roots in open LHP? ƒ Routh-Hurwitz stability criterion
ƒ Routh array

Yes / No ƒ Routh-
Routh-Hurwitz criterion is applicable to only
polynomials (so, it is not possible to deal with
exponential, sin, cos etc.).
Yes / No
ƒ Next,
Yes / No ƒ Routh-
Routh-Hurwitz criterion in control examples
ƒ Exercises
Yes / No ƒ Read Routh-
Routh-Hurwitz criterion in the textbook.
ƒ Do Examples.
Yes / No

15 16