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EENG03 - FEEDBACK AND CONTROL SYSTEMS JULY 12, 2011

STABILITY FUNDAMENTALS OF STABILITY The total response of a system is the sum of its natural and forced responses. If the natural response increases without limit or oscillates, it quickly overcomes the forced response, control of the system is then lost. METHODS TO DETERMINE THE ASYMPTOTIC STABILITY OF A SYSTEM 1. S-Domain a) Routh Table b) The Root Locus 2. Frequency Domain Methods a) Bodes Method b) Nyquist Criteria c) Nichols Method DEFINITION OF STABILITY In all systems, three (3) possibilities of stability (asymptotic stability) or instability exist, but only if one of the conditions is acceptable for any system. 1. The system may rise from zero exponentially to some final value and remain at that value or decay back to zero. This type of system is said to be asymptotically stable. 2. The system may rise exponentially without limit until the amplifiers in the system saturate and no further increase is possible; or the system may rise exponentially then oscillate at the maximum and minimum values. This type of system is unstable. 3. The system may rise exponentially to some value and oscillate between two values, never increasing or decreasing. This system is said to be marginally stable or a bounded oscillator.

EENG03 - FEEDBACK AND CONTROL SYSTEMS JULY 12, 2011

ROUTH TABLE AS A PREDICTOR OF STABILITY Stability is an absolute requirement in any control system. In the process of design, instability may not immediately be apparent. For this reason, methods to test the stability of a system have been devised. The routh table is one of the methods. CHARACTERISTIC EQUATION OF A SYSTEM - Is the denominator of the transfer function derived from a block diagram or an SFG, set equal to zero. - In all cases, the response to an excitation signal is determined completely from the characteristic equation. - If any coefficient in the characteristic equation is negative, the system has poles in the right half plane (RHP) and is unstable. - To determine the characteristic equation, the closed loop transfer function is used. FORM OF THE ROUTH TABLE In general, all coefficients of S must be present and non-zero. If any term is missing, the system is unstable and the table to be formed will have a zero in one of its starting arrows. GENERAL CHARACTERISTIC EQUATION OF A SYSTEM

F(s) = anSn + an-1Sn-1 + an-2Sn-2 + a1S +a0


The equation can be split into two rows of coefficients, one even and one odd.

Sn Sn-1

an an-1

an-2 an-3

an-4 an-5

an-6 an-7

In all cases, the highest exponents of S should have a coefficient of 1 for convenience. If the highest power of S has a coefficient greater than or less than 1, divide the equation through by the coefficient of the highest power of S.

EENG03 - FEEDBACK AND CONTROL SYSTEMS JULY 12, 2011

GENERAL FORM OF THE ROUTH TABLE

S7 S7 S7 S7 S7 S7 S7 S7

an an-1 b1 c1 d1 e1 f1 g1

an-2 an-3 b2 c2 d2 e2 0 0

an-4 an-5 b3 c3 0 0 0 0

an-6 an-7 0 0 0 0 0 0

EENG03 - FEEDBACK AND CONTROL SYSTEMS JULY 12, 2011

RULES FOR CONSTRUCTING THE ROUTH TABLE 1. Decompose the characteristic equation into two rows of odd/even or even/odd components. These are the first two rows of the table. 2. Construct the remaining rows of the table using the formulas given. 3. When the table is complete, all coefficients in the first column must be positive and greater than zero for the system to be stable. 4. If any coefficient of the first column is negative, the number of rouths in the RPH is equal to the number of sign changes in the first column. This indicates that the system is unstable. Negative values anywhere else in the table do not indicate instability.

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