05 Analisis Kestabilan FBC PDF

05 Analisis Kestabilan Sistem
Pengendalian Umpan Balik
Tujuan: Mhs mampu menganalisis kestabilan sistem

pengendalian umpan balik
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 Ξ Pemahaman Kestabilan

Stability Characteristic Ξ Karakteristik Kestabilan
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
Gambar 5.1.1. Bounded Input
Input
Upper Limit
m(t)
step
sinusoidal
Lower Limit
time
Gambar 5.1.2. Tanggapan (response) stabil dan tidak stabil
Unstable
Stable
Desired value
Unstable
time
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
Gambar 5.1.3. Complex Plane
Imaginary
Stable Unstable
Real
Example 5.1.1: Stabilization of an unstable process

with P Control
Let’s 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
Example 5.1.1 (Continued)
Gambar 5.1.4. Tanggapan sistem tak-terkendali terhadap

perubahan satu unit gangguan dengan fungsi tahap
40
30 unstable
20
y
10
0
0 0.5 1 1.5 2
Time
The closed loop response:

10K c 5
y ( s)  ysp ( s)  d ( s)
s  1  10K c  s  1  10K c 
The transfer function:

5 10K c
Gload ( s)  and Gsp ( s) 
s  1  10K c  s  1  10K c 
The closed loop will have negative pole if

1
Kc  STABLE
10
Gambar 5.1.5. Penerapan FBC
Note: P only controller with Kc = 1
Gambar 5.1.6. Tanggapan dinamik sistem terkendali terhadap

perubahan satu unit gangguan dengan fungsi tahap
1
0.8
0.6 Stable
y
0.4
offset
0.2
0
0 0.5 1 1.5 2
Time
Note: Regulatory problem; with Kc = 1
Example 5.1.2: Destabilization of a stable process

with PI Control
• process with 2nd order TF: Gambar 5.1.7. Tanggapan stabil
loop terbuka terhadap perubahan
1
Gp( s )  2 satu unit gangguan dengan fungsi
s  2s  2 tahap
0.6
• System has two complex poles:
0.5
0.4
p1 = -1 + j y 0.3
p2 = -1 − j 0.2
0.1
0
• Therefore, System is stable 0 2 4 6 8 10
Time (second)

 1 
• Implementation of PI Control GC ( s )  K C 1  
 Is 
• Assume that Gm = Gf = 1
• The closed loop G p Gc

response for servo y( s)  ysp ( s)  Gsp ( s ) ysp ( s )
problem 1  G p Gc
1  I s 1 K c  I s  1
Kc
s  2s  2
2
Is I
Gsp ( s)  
 I s 1
s  2s  2  K c s 
1 Kc
1 2 Kc 3 2
s  2s  2 Is I
• 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
0
y
-5
-10
0 0.2 0.4 0.6 0.8 1
Time (second)
Gambar 5.1.9. Tanggapan stabil loop tertutup

1.8
1.6
Kc = 10 and I = 0.5
1.4
1.2
1
y
0.8
0.6
0.4
0.2
0
0 5 10 15 20 25 30 35 40
Time (second)
5.2 The Characteristic Equation
The closed loop response of FBC :
G p G f Gc Gd
y( s)  ysp ( s)  d (s)
1  G p G f GcGm 1  G p G f GcGm
y(s)  Gsp (s) ysp (s)  Gload (s)d (s) denominator
The characteristic equation :
1 + GpGfGcGm = 0
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)
Example 5.2.1: Stability analysis of FBC based

on characteristic equation
Again, consider Ex. 5.1.1
10
Gp  Gf 1 Gm  1 Gc  K c
s 1
characteristic equation:
 10 
1  G p G f GcGm  1   1K c 1  0
 s 1 
Which has the root: p = 1 – 10Kc
1
 The system is stable IF p < 0 Kc 
10

Again, consider Ex. 5.1.2
1  1 
Gp  2 ; G f  1 ; Gm  1 ; Gc  K c 1  
s  2s  2  Is 
   K c I s  K c 
 11
1
1  G p G f Gc Gm  1   2   0
 s  2s  2   Is 
s  2s  K c  2s 
Kc
3 2
0
I
Which has three roots,
 Kc and I affect the value of roots
(i.e. positive or negative)
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.
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 5 10 15 20 25 30
-0.3
-0.4
-0.5
-0.6
-0.7
-0.8
-0.9
-1
-1.1
t
Ct   sin u t   
2
Tu  Ultimate period
u
u = ultimate frequency
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 Penyelesaian secara simultan
Bagian imaginer = 0 menghasilkan ultimate gain, Kcu
Contoh 5.3.1: mencari Kcu dan u untuk pengendali suhu pada HE
Steam To set (t), oC

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
Gambar 5.3.2. Diagram blok pengendali suhu pada HE

W(s)
Gw(s)
kg/s
+
set (t), oC
To R(s) + E(s) M(s) Ws (s) + To(t), oC
Ksp Gc(s) Gv(s) GS(s)
%TO %TO %CO kg/s

C(s), %TO
Gm(s)
dimana:
o
Gv s  
0.016 kg / s
 
GS s 
50 C
30s  1 kg / s 3s  1 %CO
Gc s   K c
%CO
Gm s  
1 %TO P Control
10s  1 o C %TO
Persamaan Karakteristik loop tertutup:
1  Gm s GS s Gv s Gc s   0
 1  50  0.016 
1    Kc  0
 10s  1  30s  1  3s  1 
Penyusunan kembali persamaan di atas diperoleh:
10s  130s  13s  1  0.80Kc  0

900s 3  420s 2  43s  1  0.80Kc  0
Substitusi s = i u pada Kc = Kcu:
900i 3u3  420i 2u2  43iu  1  0.80Kc  0

i2 = –1  420 2
u   
 1  0.80K c  i  900u3  43u  0  i0
Bagian real dan imaginer harus sama dengan nol:
 420u2  1  0.80Kc  0
 900u3  43u  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:

Jika diinginkan
2 respon STABIL,
Tu   28.7 sec maka Kc < Kcu
0.2186
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
-0.5
0 50 100 150 200
Time [sec]
0
Steam [kg/sec]
-0.1
-0.2
0 50 100 150 200
Time [sec]
Gambar 5.3.4. Tanggapan stabil pengendali suhu terhadap perubahan

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

perubahan satu unit set point dengan fungsi tahap (Contoh 5.3.1)
Kc = 30
Temperature [degC]
5
-5
0 50 100 150 200
Time [sec]
0.5
Steam [kg/sec]
-0.5
-1
0 50 100 150 200
Time [sec]
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
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):
Routh Array
Row 1 a0 a2 a4 a6 …
2 a1 a3 a5 a7 …
3 A1 A2 A3 . …
4 B1 B2 B3 . …
5 C1 C2 A3 . …
. . . .
n+1 W1 W2 . . …
Where
a1a2  a0 a3 a1a4  a0 a5 a1a6  a0 a7
A1  A2  A3  . . .
a1 a1 a1
A1a3  a1 A2 A1a5  a1 A3
B1  B2 
. . .
A1 A1
B1 A2  A1 B2 B1 A3  A1 B3
C1  C2  . . .
B1 B1
etc.
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
Example 5.4.1: Stability Analysis with the Routh-

Hurwitz Criterion
Consider FBC system in Ex. 5.1.2, Its Characteristic eq. is
s  2s  K c  2s 
Kc
3 2
0
I
Routh array is: 1st Column
Row 1 1 2 + Kc
2 2 Kc
I
22  K c  
Kc
I
3 0
2
Kc
4 I

The elements of the first column are:
 22  K c  
Kc 
 I Kc 
1, 2, 2
,
 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
22  K c  
the condition:
Kc
I
Example 5.4.2: Critical stability Conditions for FBC
Return to Ex.5.4.1, and Let I= 0.1

22  K c   10 K c
3rd element becomes:
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
Gambar 5.4.1. Tanggapan kritis dari sistem terkendali terhadap

Kc = 0.5 ; thoi = 0.1
2
1.5
CV
0.5
0
0 5 10 15
Time [sec]
6
4
MV
-2
0 5 10 15
Time [sec]
Gambar 5.4.2. Tanggapan stabil dari sistem terkendali terhadap

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

Kc = 1 ; thoi = 0.1
20
10
CV
-10
-20
0 5 10 15
Time [sec]
100
0
MV
-100
-200
0 5 10 15
Time [sec]
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
Example 5.5.1: Root locus for a Reactor with P Control

R A
Flow rate = F – m Flow rate = m Reactions:
A+ R  B
B+RC
C+RD
D+RE
Flow rate = F
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
Example 5.5.1: (Continued)
y( s) 2.98s  2.25
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
2.98s  2.25
1  Kc  0
s  1.45s  2.85 s  4.35
2
S4 + 11.5 s3 + 47.49 s2 + (2.98Kc + 83.0633)s

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

(for ex. 5.5.1)
Kc p1 p2 p3 p4
0 − 1.45 −2.85 −2.85 −2.85
1 −1.92 −2.34 + 0.82 j −2.34 − 0.82 j −4.89
5 −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
Gambar 5.5.1. Root-Locus of the reactor in Ex. 5.5.1
Root Locus
20
15
10
5
Imaginary Axis
-5
-10
-15
-20
-20 -15 -10 -5 0 5 10 15
Real Axis
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
y
Kc = 20
0.5
Offset
Kc = 5
Kc = 1
0
0 2 4 6 8 10 12 14 16 18 20
Time (Sec)
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
1
y
0.5
0
0 2 4 6 8 10 12 14 16 18 20
Time (Sec)
Gambar 5.5.4. Tanggapan tak-stabil dari loop terkendali

terhadap perubahan satu unit set-point (Ex. 5.5.1)
300
200 Kc = 100
100
0
y
-100
-200
-300
0 2 4 6 8 10 12 14 16 18 20
Time (Sec)

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05 Analisis Kestabilan Sistem

Pengendalian Umpan Balik

Tujuan: Mhs mampu menganalisis kestabilan sistem

Notion of Stability Ξ Pemahaman Kestabilan

The Notion of Stability

• Bounded : input that always remains

Gambar 5.1.1. Bounded Input

Gambar 5.1.2. Tanggapan (response) stabil dan tidak stabil

If TF of dynamic system has even one pole with

 all poles of TF must be in the left-hand part

Gambar 5.1.3. Complex Plane

Example 5.1.1: Stabilization of an unstable process

Pole has positive root s – 1 = 0  s = +1

Open loop unstable response

Example 5.1.1 (Continued)

Gambar 5.1.4. Tanggapan sistem tak-terkendali terhadap

Example 5.1.1 (Continued)

The closed loop response:

The transfer function:

The closed loop will have negative pole if

Example 5.1.1 (Continued)

Gambar 5.1.5. Penerapan FBC

Note: P only controller with Kc = 1

Gambar 5.1.6. Tanggapan dinamik sistem terkendali terhadap

Note: Regulatory problem; with Kc = 1

Example 5.1.2: Destabilization of a stable process

Example 5.1.2 (Continued)

• The closed loop G p Gc

Example 5.1.2 (Continued)

• Let Kc = 100 and I = 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

Example 5.1.2 (Continued)

Gambar 5.1.9. Tanggapan stabil loop tertutup

y(s)  Gsp (s) ysp (s)  Gload (s)d (s) denominator

The characteristic equation :

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

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

Example 5.2.1: Stability analysis of FBC based

Example 5.2.1 (Continued)

Metode Substitusi Langsung

Gambar 5.3.1 respon loop tertutup dengan Kc = Kcu

Persamaan Karakteristik loop tertutup: denominator dari FT loop tertutup

1  G p s G f s Gc s Gm s   0 ... (5.3.1)

Contoh 5.3.1: mencari Kcu dan u untuk pengendali suhu pada HE

Steam To set (t), oC

Gambar 5.3.2. Diagram blok pengendali suhu pada HE

Persamaan Karakteristik loop tertutup:

1  Gm s GS s Gv s Gc s   0

10s  130s  13s  1  0.80Kc  0

900i 3u3  420i 2u2  43iu  1  0.80Kc  0

Bagian real dan imaginer harus sama dengan nol:

u = 0 Kcu = –1.25 %CO/TO

u = 0.2186 rad/sec Kcu = 23.8 %CO/TO relevant

Jadi diperoleh ultimate period:

Gambar 5.3.3. Tanggapan kritis pengendali suhu terhadap perubahan

Gambar 5.3.4. Tanggapan stabil pengendali suhu terhadap perubahan

Gambar 5.3.5. Tanggapan tidak stabil pengendali suhu terhadap

• Does not require calculation of actual

Expand the characteristic eq. into the following

Let ao be positive, if it is negative, multiply both