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Stability of a system:
bounded input produces bounded output In the absence of input output tends to zero
C G = R 1 + GH
1+GH = 0 is called the characteristic equation of the system. Its roots are the closed loop poles. If the real part of closed loop poles are in L H P, stable response
stable
unstable
first order :
s + = 0 s = - ,
c product of roots = a
Both the roots will have negative real part only when a, b, c are of the same sign.
b sum of roots = a
First & Second order: Therefore necessary and sufficient conditions for negative ness of real part is all coefficients must be non zero and of the same sign.
If the order of the system is more than two. The condition is necessary but not sufficient.
a0
+ a1 + a2 3 s a0 2 s a1
1 s 0 s
3 s
2 s
1 s
a 1a 2 a 0 a 3 = 0 =b1 a1 b 1 a 3 a 1 .0 b1
+ a3 = 0 a2 a3
After completing the table, look for sign change in FIRST COLUMN. No sign change - stable sign change - unstable
Ex:
s3 + 6s2 + 11s + 6 = 0
Routh Table
3 s 2 s 1 s 0 s
1 6
6.11 1.6 = 10 6
11 6 0
System is STABLE
Example :
4 s 3 +10s
+ 4s + 8 = 0
Ex :
4 s
3 +2s
+
1 2 -1
2 s
+ 4s + 2 = 0
1 4 2
4 s 3 s 2 s 1 s 0 s
unstable
Ex :
4 s
3 +2s
+
1 2 -1 8 2
2 s
+ 4s + 2 = 0
1 4 2
2sign changes unstable 2 roots in RHP
4 s 3 s 2 s 1 s 0 s
Ex: 5 s
4 s 3 s
1 1 0
3 3 0
2 2
full row becomes zero cannot proceed further indicates symmetry of roots.
Form auxiliary equation using the coefficients of the row previous to the all-zero row.
s5 s4 s3 s2 s1 s0
1 1
3 3
2 2
4
6/4 4/6 2
6
2
A(s) = s4 + 3s2 + 2 dA/ds = 4s3 + 6s
5 s
4 s
3 3s
2 3s
Roots are :
j 1 , j 2 , -1
R(s) + E(s) -
G(s)
C(s)
K G= 4 3 2 s + 4s + 13s + 36s
Ch eq:s4 + 4s3 + 13s2 + 36s + K = 0
4 s 3 s 2 s 1 s 0 s
1 4
13 36
K 0
K 4 36-K K
For stability 0 < K < 36
4 s
3 4s
2 13s
Routh Table
4 s 3 s 2 s 1 s 0 s
1 4 4 8 36
13 36 36 0
36 0
apart from roots on imaginary axes, all other roots have negative real parts.
Example
5 s 4 s 3 s
1 1 0
3 3 1
2 1
> 0
5 s 4 s 3 s 2 s 1 s 0 s
1 1
3 1
3 3 1 1
2 1
2
1 3 1
1 A s 0, 3 is negative - unstable
1 3 1 = 3
Alternate method
5 s
Then
5 x
+ 1 Let s = x
+
4 2x
4 s
3 3s
2 3s
+2s +1 = 0
3 3x
2 3x
+x+1=0
5 x 4 x 3 x 2 x 1 x 0 x
3 3 1/2 1
1 1
unstable