Key Slide

Chapter 6
Stability
BIBO Stability:
• System is stable if every Bounded Input yields a
Bounded Output.

ASYMPTOTIC Stability:
• A system is asymptotically stable if the natural
response approaches zero as time approaches infinity.
• Closed-loop transfer function with all poles in the left
half-plane.
 Key Slide

Marginally Stable:
• A system is marginally stable (stable) if the natural
response neither decays nor grows but remains
constant or oscillates.
• Closed-loop transfer function with Only imaginary axis
poles of multiplicity 1 and other poles in the left half-
plane.
Unstable System:
• System is unstable if any Bounded Input yields a
Unbounded Output.
• Closed-loop transfer function with at least one pole
lines in the right half-plane (positive real part) and/or
poles of multiplicity greater than one on the imaginary
axis.
Figure 6.1
Closed-loop poles
and response:
a. stable system;
b. unstable system
Figure 6.2
Common cause
of problems in
finding closed-loop poles:
a. original system;
b. equivalent system
Figure 6.3
Equivalent closed-loop transfer function
 Key Slide
ROUTH-HURWITZ CRITERION: Using
characteristic equation Æ den(s)=0
No. of sign changes in 1st column = no. of poles in RHP

Unstable: Sufficient Condition

• All signs of the coefficients of the
denominator of the closed-loop transfer
function are not the same Æ sign change
Stable:
• Necessary Condition:
• All signs of the coefficients of the denominator of
the closed-loop transfer function are the same.
• If powers of ‘s’ are missing, the system is either
unstable or, at best, marginally stable.
• Plus Sufficient Condition: No sign changes
in the first column of the Routh Array.
Table 6.1
Initial layout for Routh table
Table 6.2
Completed Routh table
Figure 6.4
a. Feedback system for Example 6.1;
b. equivalent closed- loop system
Table 6.3
Completed Routh table for Example 6.1
 Key Slide

Table 6.4
Completed Routh table for Example 6.2 Æ Zero Only in the 1st Column
Table 6.5
Determining signs in first column of a Routh table with
zero as first element in a row
 Key Slide

Table 6.7
Routh table for Example 6.4 Æ Row of Zeros
 Key Slide

Figure 6.5
Root positions
to generate even
polynomials:
A , B, C,
or any combination
ROZ

Table 6.8
Routh table for Example 6.5
Table 6.9
Summary of pole locations for Example 6.5
Figure 6.10
Feedback control system for Example 6.9
 Key Slide

Table 6.15
Routh table for
Example 6.9

Characteristic Equation :
s 3 + 18 s 2 + 77 s + K = 0 Combined Stability Conditions :
Stability Conditions :
0 < K < 1386
K >0
1386 − K > 0
Table 6.16
Routh table for
Example 6.9 with K
= 1386

Auxiliary Polynomial : 18 s 2 + 1386 = 0

Roots : s = ± j 1386 = ± j 77 = ± jω
18
Antenna Azimuth Position Control System

Layout
CASE STUDY: Antenna Azimuth Position Control System
(refer to textbook: back endpapers)

Block Diagram
 (Configuration 1)
Figure 5.35
(or 5.34 in other editions)

Block diagram reduction for the

antenna azimuth position
control system:

a. original;

b. pushing input potentiometer

to the right past the summing
junction;

c. showing equivalent forward

transfer function;

d. final closed-loop transfer

function
 Key Slide

Table 6.19 (Configuration 1)

Routh table for antenna control case study

Stability Condition: 17392.41-6.63K > 0 and 6.63K >0

ÆÆÆ 0 < K < 2623.29
(Configuration 2)
Figure 4.33
Unmanned Free-Swimming Submersible
(UFSS) vehicle

Courtesy of Naval Research Laboratory.

Figure 4.34
Pitch control loop for the UFSS vehicle
 Key Slide

Table 6.20 Routh table for UFSS case study

Row s2 Æ K1 < 44.91

Row s1 Æ K1 = -4.685 and 25.87 Æ -4.685 < K1 < 25.87
Row s0 Æ K1 > -0.382 ÆÆ Combined: -0.382 < K1 < 25.87
Unmanned Free-swimming Submersible Vehicle
Heading Control system
A Control System for Automated Underwater Docking of
an Unmanned Underwater Vehicle (UUV) – Fuzzy Controller

Alignment distance definition

Fuzzy

Overshoot 0.10 m

Rise time 3.9 s

Settling
5.5 s
time
A Control System for Automated Underwater Docking of
an Unmanned Underwater Vehicle (UUV) – Fuzzy Controller