Laboratory in Automatic Control

Lab 6 System Stability

The Stability of Linear Feedback Systems

Routh-Hurwitz Stability (1/10)

Compute the closed-loop control system poles of the system G(s)
Solutions such that this equation equals to zero are poles.

The Stability of Linear Feedback Systems

Routh-Hurwitz Stability (2/10)

Matlab code
numg=[1]; deng=[1 1 2 23]; sysg=tf(numg,deng); sys=feedback(sysg,[1]); pole(sys)

Result

Negative pole means the system is stable.

The Stability of Linear Feedback Systems

Routh-Hurwitz Stability (3/10)

Compute the closed-loop control system poles of the system G(s) for
1
3 2 s 2s 4s

R(s)

G( s)

Y(s)

feedback

GK K 3 1 GK s 2s 2 4s K

The Stability of Linear Feedback Systems

Routh-Hurwitz Stability (4/10)

Method 1 Matlab code
K=[0:0.5:20]; for i=1:length(K) q=[1 2 4 K(i)]; P(:,i)=roots(q); end plot(real(P),imag(P),'x'),grid xlabel('Real axis'), ylabel('Imaginary axis')

Result

Right half plane means it is unstable.

The Stability of Linear Feedback Systems

Routh-Hurwitz Stability (5/9)

Method 2 Matlab code Result

K=[0:0.5:20]; for i=1:length(K) num=[K(i)]; den=[1 2 4 0]; sys=feedback(tf(num,den),[1]); P(:,i)=pole(sys); end plot(real(P),imag(P),'x'),grid xlabel('Real axis'), ylabel('Imaginary axis')

The Stability of Linear Feedback Systems

Routh-Hurwitz Stability (6/10)

Compute the closed-loop control system poles of the system G(s) for , plot the value of K such that the system is stable.
R(s) + K
G( s) 1
3 2 s 2s 4s

Y(s)

The Stability of Linear Feedback Systems

Routh-Hurwitz Stability (7/9)

Matlab code - Method 1
K=[0:0.5:20]; for i=1:length(K) q=[1 2 4 K(i)]; P(:,i)=roots(q); if (real(P(1,i))<0 && real(P(2,i))<0 && real(P(3,i))<0) k=K(i) [real(P(1,i)),real(P(2,i)),real(P(3,i))] plot(real(P),imag(P), 'x',real(P(1,i)),imag(P(1,i)), 'o', ... real(P(2,i)),imag(P(2,i)), 'o', real(P(3,i)),imag(P(3,i)), 'o'),grid break; end end xlabel('Real axis'), ylabel('Imaginary axis')

The Stability of Linear Feedback Systems

Routh-Hurwitz Stability (8/10)

Matlab code - Method 2
K=[0:0.5:20]; for i=1:length(K) num=[K(i)]; den=[1 2 4 0]; sys=feedback(tf(num,den),[1]); P(:,i)=pole(sys); if (real(P(1,i))<0 && real(P(2,i))<0 && real(P(3,i))<0) k=K(i) [real(P(1,i)),real(P(2,i)),real(P(3,i))] plot(real(P),imag(P), 'x',real(P(1,i)),imag(P(1,i)), 'o', ... real(P(2,i)),imag(P(2,i)), 'o', real(P(3,i)),imag(P(3,i)), 'o'),grid break; end end xlabel('Real axis'), ylabel('Imaginary axis')

The Stability of Linear Feedback Systems

Routh-Hurwitz Stability (9/10)

Result
3 2

Imaginary axis

-1

-2

-3 -3

-2.5

-2

-1.5 -1 Real axis

-0.5

0.5

The Stability of Linear Feedback Systems

Routh-Hurwitz Stability (10/10)

Check: Step response

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Lab Assignments
Lab 6:
Solve Problems MP6.6, and MP6.8(b). For MP6.6, you don't have to use the RouthHurwitz method. Lab report should at least contain:
1. The MATLAB code and plot for MP6.6. 2. The MATLAB code and plot for MP6.8(b) with comments.

Lab Assignments:MP6.6
Consider the feedback control system in Figure MP6.6. Using the for function , develop a MATLAB script to compute the closed-loop transfer function poles for 0 K 5 and plot the results denoting the poles with the " " symbol. Determine the maximum range of K for stability with the Routh-Hurwitz method. Compute the roots of the characteristic equation when K is the minimum value allowed for stability.

R s

1 s 5s K 3 s K
3 2

Y s

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Lab Assignments:MP6.8(b)
Consider the feedback control system in Figure MP6.8. (b) Using MATLAB, plot the pole locations as a function of 0<K1 <30 and comment on the results.

Plant
R s

5 s s 10

Y s

Controller
5 s s 10

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