STABILITY THEORY

Concept of Stability
A system is said to be stable if its
response cannot be made to
increase indefinitely by the
application of a bounded input
excitation.

Ifthe output approaches towards

infinite value for sufficiently large
time, the system is said to be
unstable.
Alinear time invariant (LTI)
system is stable if

1.The system is excited by a

bounded input, the output is
bounded.(BIBO stability criteria)
2.In the absence of the input, the
output tends towards zero. This is
known as asymptotic stable.
Impulse Response
A system is said to be stable if the
impulse response approaches zero
for sufficiently large time.
If the impulse response approaches
infinity for sufficiently large time,
the system is said to be unstable.
If the impulse response approaches
constant value for sufficiently large
time, the system is said to be
marginally stable.
Impulse response of stable system

Impulse response of unstable system

c(t)

t
Absolute stability and Relative
stability
 The term absolute stability is used in
relation to qualitative analysis of stability.

 Theabsolute stability can be determined

from the location of roots of characteristic
equation given by 1+G(s).H(s) = 0

 The term relative stability is used in relation

to comparative analysis of stability.

 Therelative stability is measured with the

help of maximum overshoot, damping ratio,
phase margin, gain margin.
Prediction of absolute stability
according to location of
characteristic equation
 The nature of time response of a system is related to the
location of the roots of characteristic equation in s-plane.
 If the roots of characteristic equation are having
negative real part the response of the system is finite
and the system is stable.

+j


-j

 If the roots of characteristic equation are lying on the
imaginary axis the the response of the system is having
sustained oscillations and the system is marginally stable.

c(t)
j
j


j
t
 Ifthe roots of characteristic equation are
having positive real part the response of the
system is infinite and the system is unstable.
 Even if one root is having positive real part
the system is unstable.

+j
 c(t)

t

-j
Necessary but not sufficient
conditions for stability
Routh’s Stability Criterion
Consider the following typical closed-loop system:

G (s ) C (s) G (s)
=
R (s) 1 + G (s)H (s)
H (s )

which can be written as

m m- 1
C (s) bs +bs +L +bm N (s)
= n
0 1
n- 1
=
R (s) s +a1s +L +an D (s)

where ai’s and bi’s are constants and mn.

Routh’s stability criterion enables us to determine the
number of closed-loop poles that lie in the right-half
plane without having to factor the denominator
polynomial.

The procedure in Routh’s stability criterion is as follows:

n 1
1).
D (s) =
Write
where wea sn
+
the a
0 assume
1s +that
polynomial +aanin + athe
s in
n 1s that
0; n =
following form:
is,0any root has not
been removed.

2) Ascertain that all the coefficients are positive (or

negative). Otherwise, the system is unstable. If we are
interested in only the stability, there is no need to follow
the procedure further.

3) If all coefficients are positive, arrange the coefficients

of the polynomial in rows and columns according to the
D (s) = a0sn + a1sn 1 +  + an 1s + an = 0

Routh Array:

sn a0 a2 a4 a6 
sn 1 a1 a3 a5 a7 
sn  2 b1 b2 b3 b4 
sn 3 c1 c2 c3 c4 
     
s0 g1 = an
 D (s) = a0sn + a1sn 1 +  + an 1s + an = 0

Routh Array:

sn a0 a2 a4 a6 
sn 1 a1 a3 a5 a7 
sn  2 b1 b2 b3 b4 
sn 3 c1 c2 c3 c4 
     
s0 g1 = an
1 2  a0a3
aa
b1 =
a1
 D (s) = a0sn + a1sn 1 +  + an 1s + an = 0

Routh Array:

sn a0 a2 a4 a6 
sn 1 a1 a3 a5 a7 
sn  2 b1 b2 b3 b4 
sn 3 c1 c2 c3 c4 
     
s0 g1 = an
1 4  a0a5
aa
b2 =
a1
 D (s) = a0sn + a1sn 1 +  + an 1s + an = 0
Routh Array:

sn a0 a2 a4 a6 
sn 1 a1 a3 a5 a7 
sn  2 b1 b2 b3 b4 
sn 3 c1 c2 c3 c4 
     
s0 g1 = an
1 6  a0a7
aa
b3 =
a1
The evaluation of bi’s is continue until the remaining ones
are all zero.
The same pattern of cross-multiplying the coefficients of
the two previous rows is followed in evaluating ci’s, di’s
and so on:
Routh Array:

sn a0 a2 a4 a6 
sn1 a1 a3 a5 a7 
sn  2 b1 b2 b3 b4 
sn 3 c1 c2 c3 c4 
     
s0 c1,n +1 = an
1 3  ab
ba
c1 = 1 2

b1
 n 1
D (s) = a0s + a1s
n
+  + an 1s + an = 0

Routh Array:

sn a0 a2 a4 a6 
sn 1 a1 a3 a5 a7 
sn  2 b1 b2 b3 b4 
sn 3 c1 c2 c3 c4 
     
s0 g1 = an
1 5  ab
ba
c2 = 1 3

b1
 D (s) = a0sn + a1sn 1 +  + an 1s + an = 0

Routh Array:

sn a0 a2 a4 a6 
sn 1 a1 a3 a5 a7 
sn  2 b1 b2 b3 b4 
sn 3 c1 c2 c3 c4 
     
s0 g1 = an
1 7  ab
ba
b3 = 1 4

b1
This process is continued until the nth row has been
completed:
Routh Array:
sn a0 a2 a4 a6 
sn 1 a1 a3 a5 a7 
sn  2 b1 b2 b3 b4 
sn 3 c1 c2 c3 c4 
    
s2 e1 e2 
s1 f1
s0
g1 = an
ROUTH-HURWITZ
CRITERION
•Statement-Routh-Hurwitz criterion states that the
system is stable if and only if all the elements in
first column have the same algebraic sign.

• If all elements are not of the same sign then the

number of sign changes of the elements in first
column equals the number of roots of the
characteristic equation in the right half of the s-
plane(or equals to number of roots with positive
real parts).
Special Cases

If one of the following cases occurs, a

suitable modification of the array
calculation procedure must be made.
(1) (Case 1) There is a zero in the first
column, but some other elements of the
row containing the zero in the first
column are nonzero;

(2) (Case 2) There is a zero in the first

column, and the other elements of the
row containing the zero are also zero.
Modified Routh’s Stability Criterion:
Case 1:
In this case, the zero is replaced by a very small positive
number  and the rest of the array is evaluated then.
Example.

D (s) = s5 + 2s4 + 2s3 + 4s2 + 11s + 10

s5 1 2 11 where e 0
s4 2 4 10
s3 0e 6
s2 c1 10
s d1
s0 10 There are two changes in sign, that is, two
poles lie in the right-half s-plane.
Modified Routh’s Stability Criterion:
Case 2
There is a zero in the first column, and the other element
of the row containing the zero are also zero. For example,

D (s) = s6 + s5  2s4  3s3  7s2  4s  4 = 0

s6 1 2 7 4
s5 1 3 4
s4 1 3 4
s3 0 0
To solve the problem, from s4 row we obtain an
auxiliary polynomial:

P (s) = s4  3s2  4
which indicates that there are two roots on the j axis and
the system is in the marginal stability case. Then, conside

dP (s) / ds = 4s3  6s
Let the term in s3 row be replaced by 4s36s. The array
becomes

s6 1 2 7 4
s5 1 3 4
s4 1 3 4 There is one change in sign
s3 4 6 of the first column of the
array. Hence, only one pole
s2 1.5 4 lies in the right-half s-plane.
s1 16.7 0
s0 4
ROOT LOCUS
Rules for Construction of
Root Locus
Rule1-Root Locus is symmetrical
about the real axis.
Example-
Rule2-The root locii starts from
open loop pole with K=0.
Rule3-The root locii will terminate
either on an open loop zero or on
infinity with K=infinity.
Rule 4
If N=No. of separate locii
P=No. of finite poles
Z=No. of finite zeros
Then
N=P if P>Z
N=Z if Z>P
N=P=Z if P=Z
 Rule5-Root Locii on the real axis.
Any point on the real axis is a
part of the root locus if and only if
the number of poles and zeros to
its right is odd.
The Dark portion on
the real axis is part of
root locus
Rule6
The branches of root locus tend to
infinity along a set of straight lines
called asymptotes.
Centroid of Asymptotes
The point of intersection of
asymptotes
with real axis is called centroid of
asymptotes.
Centroid
of
asympto
tes
Rule7
Angle of Asymptotes-The angle which
asymptotes make with real axis is given
by
Rule8
Angle of Departure and Angle of
Arrival of root locii.
Rule9-Breakaway Point
if the root locus lies between two
adjacent open loop poles on the real
axis
then there will be at least one
breakaway.
• Similarly if root locus lies between two
adjacent zeros on real axis then there
will be at least one break in point.
• If the root locus lies between an open
loop pole and zero, then there will be
no break away or break in point or
may be both occur.
Rule10
The intersection of root locus
branches with jw(imaginary) axis
can be determined through Routh
Hurwitz criterion.
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