Chapter 6

Stability

Closed-loop poles and response

Common cause of problems in

finding closed-loop poles

Equivalent closed-loop transfer

function

Routh Stability
Initial layout for
Routh table

2000, John Wiley & Sons, Inc.

Nise/Control Systems Engineering, 3/e

Completed Routh
table

Feedback system for Example 6.1

Table 6.3
Completed Routh table for
Example 6.1

Completed Routh table for Example 6.2

Determining signs in first

column of a Routh table with
zero as first element in a row

Routh table for Example 6.3

Routh table for Example 6.4

Feedback control system for Example 6.6

Feedback control system for Example 6.8

Table 6.14
Summary of pole locations for
Example 6.8

2000, John Wiley & Sons, Inc.

Nise/Control Systems Engineering, 3/e

Feedback control system for Example 6.9

Stability in State Space

x Ax Bu

Problem 32

Problem 35

Stability in State Space

x Ax Bu

Problem 32

Problem 35

Problem 43: Closed-loop system with pole

plot

2000, John Wiley &Sons, Inc.

Nise/Control Systems Engineering, 3/e

Problem 55: Aircraft pitch loop model

2000, John Wiley & Sons, Inc.

Nise/Control Systems Engineering, 3/e

Problem 57 a. Soft Arm Courtesy of Kazuhiko Kawamura, Vanderbilt University.

used for feeding;
b. simplified block diagram

2000, John Wiley & Sons, Inc.

Nise/Control Systems Engineering, 3/e