Cspiii 160830160014

Rayat Shikshan Sanstha’s
KARMAVEER BHAURAO PATIL

POLYTECHNIC,
SATARA
Stability Analysis
Department Of Electronics And Telecommunication Engineering
Control System and PLC
EJ5G Subject Code: 17536 Third Year Entc
Amit Nevase
Lecturer,
Department of Electronics & Telecommunication Engineering,
Karmaveer Bhaurao Patil Polytechnic, Satara
8/30/2016 Amit Nevase 2

Objectives
The student will be able to:
 Understand classifications of control system.
 Understand Steady state, time response, and frequency

response analysis.
 Analyze the Stability of control system using RH criteria.
 Understand the fundamentals and diff. Hardware parts of

PLC.
 Draw ladder diagrams to program PLC

Teaching & Examination Scheme
Teaching Scheme Examination Scheme
PAPER
TH TU PR TH PR OR TW TOTAL
HRS
03 -- 02 03 100 50# --- 25@ 175
 Two tests each of 25 marks to be conducted as per the schedule given by

MSBTE.
 Total of tests marks for all theory subjects are to be converted out of 50 and
to be entered in mark sheet under the head Sessional Work (SW).

Module I – Introduction to Control System
 Introduction to Control systems (4 Marks)
 Control System – Definition and Practical Examples
 Classification of Control System : Open Loop and Closed Loop Systems –
Definitions, Block diagrams, practical examples, and Comparison, Linear and
Non-linear Control System, Time Varying and Time In-varying Systems
 Servo System : Definition, Block Diagram, Classification (AC and DC Servo
System), Block diagram of DC Servo System.
 Laplace Transform and Transfer Function (4 Marks)
 Laplace Transform : Signifiance in Control System
 Transfer Function : Definition, Derivation of transfer functions for Closed loop
Control System and Open Loop Control System, Differential Equations and
transfer functions of RC and RLC Circuit
 Block Diagram Algebra (8 Marks)
 Order of a System : Definition, 0,1,2 order system Standard equation, Practical
Examples
 Block Diagram Reduction Technique: Need, Reduction Rules, Problems
Module II – Time Response Analysis
 Time Domain Analysis (4 Marks)
 Transient and Steady State Response
 Standard Test Inputs : Step, Ramp, Parabolic and Impulse, Need, Significance
and corresponding Laplace Representation
 Poles and Zeros : Definition, S-plane representation
 First and Second order Control System (8 Marks)
 First Order Control System : Analysis for step Input, Concept of Time Constant
 Second Order Control System : Analysis for step input, Concept, Definition and
effect of damping
 Time Response Specifications (8 Marks)
 Time Response Specifications ( no derivations )
 Tp, Ts, Tr, Td, Mp, ess – problems on time response specifications
 Steady State Analysis – Type 0, 1, 2 system, steady state error constants,
problems

Module III – Stability
 Introduction to Stability (4 Marks)

 Definition of Stability, Analysis of stable, unstable, critically stable
and conditionally stable
 Relative Stability
 Root locations in S-plane for stable and unstable system
 Routh’s Stability Criterion (8 Marks)

 Routh’s Stability Criterion : Different cases and conditions
 Statement Method
 Numericals Problems

Module IV – Control Actions
 Process Control System (4 Marks)

 Process Control System – Block diagram, explanation of each block
 Control Actions (8 Marks)

 Discontinuous Mode : On-Off Controller, Equation, Neutral Zone
 Continuous modes: Proportional Controller (offset, proportional
band), Integral Controllers, Derivative Controllers – output
equations, corresponding Laplace transforms, Response of P, I, D
controllers
 Composite Controllers : PI, PD, PID Controllers – output equations,
response, comparison

Module V – PLC Fundamentals
 Introduction (4 Marks)
 Evolution of PLC in automation, need and benefits of PLC in
automation
 Block Diagram of PLC (12 Marks)
 Block diagram and description of different parts of PLC -
 CPU function, Scanning cycle, speed of execution, Power supply
function,
 Memory – function , organization of ROM and RAM
 Input modules – function, different input devices used with PLC
and their uses
 Output modules – function, different output devices used with
PLC and their uses
 Fixed and Modular PLCs
Module VI – PLC Hardware and Programming
 PLC Hardware (8 Marks)
 Discrete Input Modules – Block diagram, typical wiring details, Specifications of
AC input modules and DC input modules. Sinking and sourcing concept in DC
input modules
 Discrete Output Modules – Block diagram, typical wiring details, Specifications
of AC output modules and DC output modules.
 Analog Input and output modules : Block diagram, typical wiring details and
specifications
 PLC Programming (16 Marks)
 I/O Addressing in PLC
 PLC Instruction Set : Relay instructions, timer instructions, counter instructions,
data handling instructions, logical and comparison instructions
 PLC programming examples based on above instruction using Ladder
programming

Module-III
Stability

Specific Objectives
Appreciate the importance of stability
 Analyze different types of stability
 Apply Routh’s stability criterion for stability
analysis and solve the numerical.




“Concept of Stability”
The concept of stability can be illustrated by a cone placed on a

plane horizontal surface.
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 Definition of Stability, Analysis of stable, unstable, critically
stable and conditionally stable


Stable System
A linear time invarient system is stable if following

conditions are satisfied:
 A bounded input is given to the system, the response

of the system is bounded and controllable.
 In the absence of the inputs, the output should tend to

zero as time increases.

Stable System
Bounded i/p bounded o/p Location of roots

for stable system for stable system
Unstable System
 A linear time invarient system comes under the class of

unstable system if the system is excited by a bounded
input, response is unbounded.
 This means once any input is given system output goes

on increasing & designer does not have any control on
it

Unstable System
Bounded i/p Unbounded o/p Location of roots

for unstable system for unstable system

Critically Stable System
 When the input is given to a linear time invarient system,
for critically stable systems the output does not go on
increasing infinitely nor does it go to zero as time increases.
 The output usually oscillates in a finite range or remains

steady at some value.
 Such systems are not stable as their response does not

decay to zero. Neither they are defined as unstable because
their output does not go on increasing infinitely.

Critically stable System
Bounded i/p & o/p response Location of roots

for critically stable system for critically stable system




Relative Stability
 A system may be absolutely stable i.e. it may have

passed the Routh stability test.
 As a result their response decays to zero under zero

input conditions.
 The ratio at which these decay to zero is important to

check the concept of “Relative stability”

Relative Stability
 When the poles are located far away from jw axis in
LHP of s-plane, the response decays to zero much
faster, as compared to the poles close to jw-axis.
 The more the poles are located far away from jw-axis
the more is the system relatively stable.

Relative Stability
Response comparison

Relative Stability
Location of poles comparison j
 
 
 
System B System A  j
Complex conjugate Complex conjugate
poles poles
Relative Stability
j
 
 j
Relative Stability improves as one moves
away from jw axis




Routh’s Stability Criterion
For the transfer function;
m 1
C (s) b 0 s  b1s  ...............  bm
m
 n 1
R (s) a 0 s  a1s  ...............  an
n
In this criterion, the coefficients of denominator are

arranged in an Array called “Routh’s Array”;
n 1
a0 s  a1s
n
 ...............  an  0

The coefficients of s nand s n 1 row are directly written from the given
equation.
a0 s n  a1s n1  ...............  an  0

The Routh’s array as below; For next row i.e. s n  2 ;
a0 a2 a4 a6
sn a1.a 2  a3a 0
a5 b1 
s n 1 a1 a3 a7 a1
s n2 b1
s n 3
s0
The coefficients of s n and s n 1 row are directly written from the given
equation.
a0 s n  a1s n1  ...............  an  0

For next row i.e. s n  2 ;
The Routh’s array as below;
a1.a 2  a 3a 0
b1 
a1
sn a0 a2 a4 a6
s n 1 a1 a3 a5 a7 a1.a 4  a 0.a 5
b2 
a1
s n2 b1 b2
s n 3
s0
The coefficients of s n and s n 1 row are directly written from the
given equation.
a0 s n  a1s n1  ...............  an  0

The Routh’s array as below;
a1.a 2  a 3a 0
b1 
a1
sn a0 a2 a4 a6
a1.a 4  a 0.a 5
b2 
s n 1 a1 a3 a5 a7 a1
s n2 b1 b2 b3 a1.a 6  a 0.a 7

b3 
a1
s n 3
s0
Now the same technique is used, for the next row i.e. s n 3 row, but
only previous two rows are used i.e. s n 1 and s n  2

The Routh’s array as below; a1.a 2  a 3a 0
b1 
a1
sn a0 a2 a4 a6 a1.a 4  a 0.a 5
b2 
a1
s n 1 a1 a3 a5 a7
a1.a 6  a 0.a 7
b3 
a1
s n2 b1 b2 b3 n 3
For next row i.e. s ;
s n 3 c1
b1.a3  b2a1
c1 
b1
s0
n 3
Now the same technique is used, for the next row i.e. s row, but
only previous two rows are used i.e. s n 1 and s n  2

The Routh’s array as below; a1.a 2  a 3a 0
b1 
a1
sn a0 a2 a4 a6 a1.a 4  a 0.a 5
b2 
a1
s n 1 a1 a3 a5 a7
a1.a 6  a 0.a 7
b3 
a1
s n2 b1 b2 b3 n 3
For next row i.e. s ;
s n 3 c1 c2 b1.a 3  b 2 a1
c1 
b1
b1.a5  b3a1
s0 c2 
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Each column will
sn a0 a2 a4 a6
reduce by one as we
move down the array. s n 1 a1 a3 a5 a7
s n2 b1 b2 b3
This process is s n 3 c1 c2
obtained till last row is
obtained.
s0 an

Routh’s Criterion
Must have same sign
 The necessary & sufficient

conditions for a system to sn a0 a2 a4 a6
be stable is all terms in the a1 a3 a5 a7
s n 1
first column at Routh’s
Array should have same s n2 b1 b2 b3
sign. c1 c2
s n 3
 There should not be any
sign change in first
column. s0 an

Routh’s Criterion
 When there are sign

changes in the first column
of Routh’s array then the sn + a0 a2 a4 a6
system is unstable. s n 1 + a 1 a3 a5 a7
 There are roots in RHP. s n  2 - b1 b2 b3
 The number of sign s n 3 + c 1 c2
changes equal the number

of roots in RHP. s0 an

Example 1
s3  6s 2  12s  8  0
a0 a1 a2 a3
s3 1 12
s2 6 8
s1 b1 b2
s0 an

Example 1 cont……
s3 1 12
a1.a 2  a3.a 0
b1 
s2 a1
6 8
s1 b1 b2
s0 an

s3 1 12
(6  12)  (8  1)
b1 
s2 6
6 8
s1 b1 b2
s0 an

s3 1 12 0
s2 6 8 0
s1 10.67 b2
s0 an a1.a 4  a 0.a 5
b2 
a1

s3 1 12 0
s2 6 8 0
s1 10.67 b2
s0 an 1 0  6  0
b2 
6

s3 1 12 0
s2 6 8 0
s1 10.67 0
s0 an 10.67  8  6  0
b2 
10.67

s3  6s 2  12s  8  0
s3 1 12 0
s2 6 8 0
s1 10.67 0
s0 8

Elements in first column are of same sign
s3 1 12 0
s2 6 8 0
s1 10.67 0
s0 8
As all elements in first column are of same

sign. Hence system is stable
Example 2
Comment on stability. s 4  2s3  6s 2  10s  3  0
s4 1 6 3 a1.a 2  a3.a 0
b1 
s3 2 10 0 a1
s2 b1 b2 (2  6)  (1  10)
b1 
2
s1 c1
s 0 an b1  1

Example 2 cont….
s4 a1.a 4  a 0.a5
1 6 3 b2 
a1
s3 2 10 0
2  3  1 0
s 2
1 b2 b2 
2
s1 c1
s 0 an b2  3

Example 2 cont….
b1.a3  b2a1
s4 1 6 3 c1 
b1
s3 2 10 0
1  10  2  3
s2 1 3 c1 
1
s1 c1
s 0 an c1  4

Example 2 cont….
c1.b 2  b1c 2
s4 1 6 3 an 
c1
s3 2 10 0
4  3  1 0
s2 1 3 an 
4
s1 4
s 0 an an  3

Example 2 cont….
s4 1 6 3
As no sign change in first
s 3
2 10 0 column; system is stable
s2 1 3
s1 4
s0 3

Example 3
Comment on stability. 2s3  4s 2  4s  12  0
a1.a 2  a3.a 0
s3 2 4 0 b1 
a1
s2 4 12
1 (4  4)  (2  12)
s b1 b2 b1 
4
s 0 an
b1  2

Example 3 cont….
s3 2 4 0 (4  0)  (2  0)
b2 
4
s2 4 12
s1 2 b2
b2  0
s 0 an

Example 3 cont….
s3 2 4 0 (2  12)  (4  0)
an 
2
s2 4 12
s1 2 0
an  12
s 0 an

Example 3 cont….
s3 2 4 0
s2 4 12 There are two sign changes

+4 to -2 and -2 to +12.
s1 2 0 Hence two roots are in RHP
S-plane and system is unstable
s 0 12

Example 4
Comment on stability. s5  2s 4  4s3  6s 2  2s  5  0
(2  4)  (6  1)
b1 
s5 1 4 2 2
s4 2 6 5
b1  1
s3 b1 b2
(2  2)  (5  1)
b2 
2
s c1 c2
2
s1 d1
b2  0.5
s 0 an
Example 4 cont…..
(1 6)  (0.5  2)
c1 
s5 1 4 2 1
s4 2 6 5
c1  7
s3 1 0.5
(1 5)  (0  2)
s2 c1 c2 c2 
1
s1 d1
c2  5
s 0 an

Example 4 cont…..
s5 1 4 2
s4 2 6 5 (7  0.5)  (5  1)
d1 
7
s3 1 0.5
2
d 1  1.21
s 7 5
s1 d1
s 0 an

Example 4 cont…..
s5 1 4 2
s4 2 6 5 (5  1.21)  (7  0)
an 
1.21
s3 1 0.5
an  5
s2 7 5
s1 1.21
s 0 an

Example 4 cont…..
s5 1 4 2
s4 2 6 5
There are two sign changes
s3 1 0.5 +7 to -1.21 and -1.21 to +5.
Hence two roots are in RHP
s2 7 5 S-plane and system is unstable
s1 1.21
s0 5

Example 5
Comment on stability. s5  s 4  2s 3  2s 2  3s  5  0
(1 2)  (2 1)
b1 
s5 1 2 3 1
s4 1 2 5
b1  0
s3 b1 b2
(1 3)  (5 1)
b2 
2
s c1 c2
1
s1 d1
b 2  2
s 0 an
Example 5 cont…..
Comment on stability. s5  s 4  2s 3  2s 2  3s  5  0
s5 1 2 3
s4 1 2 5
s3 0 2
s2 c1 c2
s1 d1
Case I – “When the first of any row is zero and the rest
of the row is non-zero.”
s 0 an
Routh’s Criterion Special Cases
Case I – “When the first of any row is zero and the

rest of the row is non-zero.” Here the next row
cannot be formed as division by 0 will take place.
Method to Overcome: A method to overcome

1
above problem is to replace s by z and complete
the Routh’s test for z.
Example 5 cont…..
Replace s by (1/z)
1 1 1 1 1
( )5  ( ) 4  2( )3  2( ) 2  3( )  5  0
z z z z z
Take L.C.M
1  z  2 z 2  2 z 3  3z 4  5 z 5
5
0
z
1  z  2 z 2  2 z 3  3z 4  5 z 5  0
5 z 5  3z 4  2 z 3  2 z 2  z  1  0
Use above characteristics equation and complete Routh’s Test

Example 5 cont…..
z5 5 2 1
z4 3 2 1
4 2 There are two sign changes

z 3
 
3 3 in first column.
1 Hence two roots are in RHP
S-plane and system is unstable
2
z 1
2
z1 2
z0 1

Example 6
Comment on stability. s 4  6s3  11s 2  6s  10  0
(6  11)  (1  6)
s4 b1 
1 11 10 6
s3 6 6 0 b1  10
s2 b1 b2
(6  10)  (1  0)
s 1
c1 b2 
6
s 0 an b1  10

Example 6 cont….
(10  6)  (10  6)
s4 c1 
1 11 10 10
s3 6 6 0
c1  0
s2 10 10
s1 c1
s 0 an

Example 6 cont….
(10  6)  (10  6)
s4 c1 
1 11 10 10
s3 6 6 0
c1  0
s2 10 10
s1 0
s 0 an
Case II – “When all elements in any one row is zero.”

Routh’s Criterion Special Cases
Case II – “When all elements in any one row is zero.”
Method to Overcome:
 Here form an auxillary equation with the help of
the coefficients of the coefficients of the row just
above the row of zeros.
 Take the derivative of this equation and replace it’s
coefficients in the present row of zeros.
 Then proceed for Routh’s test.
Example 6 cont….
Here s1 row breaks down.

Hence write auxiliary equation
s4 for s2 .
1 11 10
A(s)  10s 2  10
s3 6 6 0
(Note each term of next column
s2 10 10 differs by degree of 2)
s1 0
Take derivative of auxiliary equation
s 0 an d
A(s)  20s
ds
Use these for s row coefficients.

Example 6 cont….
s4 1 11 10
(20  10)  (10  0)
6 6 an 
s3 0 20
s2 10 10
an  10
s1 20
s 0 an

Example 6 cont….
s4 1 11 10
s 3
6 6 0 column; system is stable
s2 10 10
s1 20
s 0 10

Example 7
Comment on stability. s6  3s5  5s 4  9s3  8s 2  6s  4  0
s6 1 5 8 (3  5)  (9  1)
4 b1 
3
s5 3 9 6
b1  2
4
s b1 b2 b3
(3  8)  (6  1)
b2 
s3 c1 c2 3
s2 d1 b2  6
s1 e1 (3  4)  (0  1)
b3 
3
s 0 an
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b3  4 72
Example 7 cont….
s6 1 5 8 4 (2  9)  (3  6)
c1 
s5 3 2
9 6
s4 2 6 4 c1  0
s3 c1 c2
(2  6)  (4  3)
c2 
s2 d1 2
s1 e1
c2  0
s 0 an

Example 7 cont….
6 Here s3 row breaks down.

s 1 5 8 4 Hence write auxiliary equation
for s4 .
s5 3 9 6
A(s)  2s 4  6s 2  4
s4 2 6 4 (Note each term of next column
differs by degree of 2)
s3 0 0
s2 d1 Take derivative of auxiliary equation
d
s 1
e1 A(s)  8s 3  12s
ds
s 0 an Use these for s3 row coefficients.

Example 7 cont….
(8  6)  (12  2)
s 6
1 5 8 d1 
4 8
s5 3 9 6
4
d1  3
s 2 6 4
s3 8 12 (8  4)  (0  2)
d2 
d1 8
s2 d2
s1 e1 d2  4
s 0 an

Example 7 cont….
s6 1 5 8 4
s5 3 9 6
(3  12)  (8  4)
e1 
s4 2 6 4 3
s3 8 12 e1  4
s2 3 4
s1 e1
s 0 an

Example 7 cont….
s6 1 5 8 4
s5 3 9 6
(4  4)  (3  0)
an 
s4 2 6 4 4
s3 8 12 an  4
s2 3 4
s1 4
s 0 an

Example 7 cont….
s6 1 5 8 4
s5 3 9 6
s4 2 6 4 column; system is stable
s3 8 12
s2 3 4
s1 4
s0 4

Example 8
s6 1 8 20 (2  8)  (12  1)
16 b1 
2
s5 2 12 16
b1  2
4
s b1 b2 b3
(2  20)  (16  1)
b2 
s3 c1 c2 2
s2 d1 b2  12
s1 e1 (2  16)  (0  1)
b3 
2
s 0 an
b3  16
Example 8 cont…..
(2  12)  (2  12)
c1 
2
s6 1 8 20 16
s5 2 12 16 c1  0
s4 2 12 16 (2 16)  (2 16)
c2 
2
s3 c1 c2 c3
s2 d1 c2  0
s1 e1
(2  0)  (2  0)
c3 
s 0 an 2

c3  0 80
Example 8 cont…..
6 Here s3 row breaks down.

s 1 8 20 16 Hence write auxiliary equation
for s4 .
s5 2 12 16
A(s)  2s 4  12s 2  16
s4 2 12 16 (Note each term of next column
differs by degree of 2)
s3 0 0 0
s2 d1 Take derivative of auxiliary equation
d
s 1
e1 A(s)  8s 3  24s
ds
s 0 an Use these for s3 row coefficients.

Example 8 cont…..
(8  12)  (24  2)
s 6
1 8 20 d1 
16 8
s5 2 12 16
4
d1  6
s 2 12 16
s3 8 24 0 (8  16)  (0  2)
d2 
d1 8
s2 d2
s1 e1 d 2  16
s 0 an

Example 8 cont…..
s6 1 8 20 16
s5 2 12 16 (6  24)  (8  16)
e1 
s4 16 6
2 12
s3 8 24 0 e1  2.67
s2 6 16
s1 e1
s 0 an

Example 8 cont…..
s6 1 8 20 16
s5 2 12 16
(2.67  16)  (6  0)
an 
s4 2 12 16 2.67
s3 8 0
24 an  16
s2 6 16
s1 2.67
s 0 an

Example 8 cont…..
s6 1 8 20 16
s5 2 12 16
s3 8 24 0
s2 6 16
s1 2.67
s 0 16

Example 9
Problem: Using routh’s criteria find the stability for given figure.
R(s) + 100 C(s)

s 2  10 s
-

100
G(s)  2 H(s)  1
s  10s
C(s) G (s)
 
R(s) 1  G (s) H (s)
100 100

C(s)
 s 2
 10 s  2  10 s
s 2
 2
100
R(s) 100 s  10 s  100 s  10s  100
1 2
s  10 s s 2  10 s
Characteristics equation is the denominator of the CLTF
Characteristics equation s 2  10s  100  0

Example 9 cont…….
s 2  10s  100  0
s2 1 100
(10  100)  (1  0)
an 
s1 10 10
an  100
s 0 an

Example 9 cont…….
s 2  10s  100  0
s2 1 100
1 As no sign change in first

s 10
column; system is stable
s 0 100

Example 10
s6 1 4 5 2 (3  4)  (1 6)
b1 
s5 3 3
6 3
4
b1  2
s b1 b2 b3
(3  5)  (1 3)
b2 
s3 c1 c2 3
s2 d1 b2  4
s1 e1 (3  2)  (0  1)
b3 
3
s 0 an
b3  2 90
(2  6)  (3  4)
c1 
s6 1 2
4 5 2
s5 3 6 3 c1  0
s4 2 4 2
(2  3)  (2  3)
c2 
s3 c1 c2 c3 2
s2 d1
c2  0
s1 e1
(2  0)  (2  0)
s 0 an c3 
2

c3  0 91

Hence write auxiliary equation
s6 1 4 5 2 for s4 .
s 5
3 6 3 A(s)  2s 4  4 s 2  2
s 4
2 4 2 A(s)  s 4  2s 2  1
3
(Note each term of next column
s 0 0 0 differs by degree of 2)
s2 d1 d2
1
s e1 d
A(s)  4 s3  4s
s 0 an ds
Use these for s3 row coefficients.

s6 1 4 5 2
s5 3 6 3 (4  4)  (4  2)
d1 
s4 4
2 4 2
s3 4 4 0 d1  2
s2 d1 d2
(4  2)  (0  2)
s 1
e1 d2 
4
s 0 an
d2  2
s6 1 4 5 2
(2  4)  (2  4)
s5 3 e1 
6 3 2
s4 2 4 2
e1  0
s3 4 4 0
(2  0)  (0  4)
s2 2 2 e2 
2
s1 e1 e2
s 0 an e2  0


s6 1 4 5 2 Hence write auxiliary equation
for s2 .
s5 3 6 3
A(s)  2s 2  2
s4 2 4 2
s3 0 (Note each term of next column

4 4 differs by degree of 2)
s2 2 2
s1 0 0
d
A(s)  4s
s 0 an ds
Use these for s1 row coefficients.

s6 1 4 5 2
s5 3 6 3
(4  2)  (2  0)
an 
s4 2 4 2 4
s3 0
4 4 an  2
s2 2 2
s1 4 0
s 0 an

s6 1 4 5 2
s5 3 6 3
s4 2 4 2
s2 2 2
s1 4 0
s0 2

Application of Routh’s Criterion
The gain is kept in terms of k and Routh’s array
is solved to find k for stable operation.

Example 11
Determine the range of k for stable system. s 4  5s 3  5s 2  4 s  k  0
s4 1 5 k
s3 5 4 0
s 2 4.2 k
16.8  5k
s1
4.2
s0 k
For stability all elements of first column 1 should be positive
i.e. k 0 For s 0 row ------------------------(1)
16.8  5k s1 row
and 0 For
4.2
16.8
i.e. 16.8  5k or k<
5
------------------------(2)
k  3.36
Thus combining equations (1) and (2), 0  k  3.36
This is the range of k stable operation.

Example 12
Determine the range of k for stable system.
s 4  4s 3  4s 2  3s  k  0
s4 1 4 k
s3 4 3 0
2 13
s k
4
39  16k
s1
13
s0 k
For stability,
39  16k
i.e. k 0 and 0
13
39
i.e. 39  16k  0 or k<
16
k  2.43
Thus 0  k  2.43

Example 13
Determine the range of k for stable system. s 3  s 2 (2  k )  30sk  200k  0
s3 1 30k
s2 2  k 200k
30k (2  k )  200k
s1 (2  k )
s0 k

For stability,
i.e. k 0
i.e. k 20
k  2
and 30k (k  2)  200k
0
2k
k  4.67
Thus 4.67  k  

Advantages of Routh’s Criterion
 It is a simple algebraic method to determine the stability of
closed loop without solving for roots of higher order
polynomial of the characteristics equation.
 It is not tedious or time consuming.
 It progress systematically.
 It is frequently used to determine the conditions of

absolute & relative stability of a system.
 It can determine range of k for stable operation.

Disadvantages of Routh’s Criterion
 It is valid only for real coefficients of characteristics

equation. Any coefficient that is a complex number or
contains exponential factors, the test fails.
 It is applicable only to the linear systems.
 Exact location of poles is not known.
 Only idea is obtained about stability. A method to

stabilize the system is not suggested.

References
 Control System Engineering
- J. J. Nagrath, M. Gopal
 Feedback Control System
- R. A. Barapate
 Modern Control
Engineering
- K. Ogata
Online Tutorials
 http://www.electrical4u.com
/control-engineering-
historical-review-and-types-
of-control-engineering/
 http://www.academia.edu/6
729369/EC2255-
_Control_System_Notes_solv
ed_problems_
Thank You
Amit Nevase

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Rayat Shikshan Sanstha’s

KARMAVEER BHAURAO PATIL

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The student will be able to:

 Understand classifications of control system.

 Understand Steady state, time response, and frequency

 Analyze the Stability of control system using RH criteria.

 Understand the fundamentals and diff. Hardware parts of

 Draw ladder diagrams to program PLC

Teaching Scheme Examination Scheme

03 -- 02 03 100 50# --- 25@ 175

 Two tests each of 25 marks to be conducted as per the schedule given by

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 Introduction to Stability (4 Marks)

 Routh’s Stability Criterion (8 Marks)

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 Process Control System (4 Marks)

 Control Actions (8 Marks)

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Appreciate the importance of stability

 Analyze different types of stability

 Apply Routh’s stability criterion for stability

analysis and solve the numerical.

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 Introduction to Stability (4 Marks)

 Routh’s Stability Criterion (8 Marks)

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The concept of stability can be illustrated by a cone placed on a

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 Introduction to Stability (4 Marks)

 Routh’s Stability Criterion (8 Marks)

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A linear time invarient system is stable if following

 A bounded input is given to the system, the response

 In the absence of the inputs, the output should tend to

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Bounded i/p bounded o/p Location of roots

 A linear time invarient system comes under the class of

 This means once any input is given system output goes

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Bounded i/p Unbounded o/p Location of roots

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 The output usually oscillates in a finite range or remains

 Such systems are not stable as their response does not

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Bounded i/p & o/p response Location of roots

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 Introduction to Stability (4 Marks)

 Routh’s Stability Criterion (8 Marks)

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 A system may be absolutely stable i.e. it may have

 As a result their response decays to zero under zero

 The ratio at which these decay to zero is important to

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 When the poles are located far away from jw axis in

LHP of s-plane, the response decays to zero much

faster, as compared to the poles close to jw-axis.

the more is the system relatively stable.

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