Chapter 5

Stability
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Learning
Outcome
• Understand the basic concept of stability

• Role of poles in stability

• Stability analysis using Routh-Hurwitz

Criterion
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Basic Concept of Stability

A system is said to be stable if it does not exhibit large changes in its

output for a small change in its input, initial conditions or its system
parameters.

In a stable system, the output is predictable and finite for a given input.
The definition of stability depends on the type of system. Generally, the
stability of a system is classified as stable, unstable and marginally
stable.
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Role of Poles in Stability

𝑗𝜔 𝑗𝜔 𝑗𝜔

x x x
x
𝜎 𝜎 𝜎

x x x
s-plane s-plane s-plane

Stable Marginally/ Critically stable Unstable

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Routh-Hurwitz Criterion
Routh-Hurwitz stability criterion is an analytical method used for the
determination of stability of a linear time-invariant system.

The basis of this criterion revolves around simply determining the

location of poles of the characteristic equation in either left half or right
half of s-plane despite solving the equation.

The necessary condition is that the coefficients of the characteristic

polynomial should be positive.
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Routh-Hurwitz Criterion

𝐶(𝑠)
Step 1: Find close loop transfer function,
𝑅(𝑠)

𝐶(𝑠) 18
= 4
𝑅(𝑠) 𝑠 + 3𝑠 3 + 3𝑠 2 + 1 Macam
susah jer...

Step 2: Extract polynomial characteristic

𝑠 4 + 3𝑠 3 + 3𝑠 2 + 1
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Routh-Hurwitz Criterion

Step 3: Form the Routh array for the given polynomial characteristic

𝑠4 1 3 1
𝑠3 3 2 0

𝑠2 3 × 3 − (1 × 2) 7
=
3 × 1 − (1 × 0)
=1 0
3 3 3
7 7
𝑠1 3
× 2 − (3 × 1) 5
3
× 0 − (3 × 0) 0
= =0
7 7 7
3 3

𝑠0 1 0 0
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Routh-Hurwitz Criterion

Step 4 − Verify the sufficient condition for the Routh-Hurwitz stability.

1st Column

All the elements of the first column of La.. Senang

the Routh array are positive. There is rupanya
no sign change in the first column of the
Routh array. So, the control system is
stable.
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Routh-Hurwitz Criterion

Find the range ok gain, K, for the system shown below that will cause the
system to be stable, unstable and marginally stable.

𝐺(𝑠)
𝑅(𝑠) 𝐾 𝐶(𝑠)
+ 𝑠(𝑠 + 7)(𝑠 + 11)
-
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Routh-Hurwitz Criterion
𝐶(𝑠)
Step 1: Find close loop transfer function,
𝑅(𝑠)

}
𝐾
𝐶(𝑠) 𝑠(𝑠 + 7)(𝑠 + 11)
= 𝐾 Block diagram reduction
𝑅(𝑠) 1 +
𝑠(𝑠 + 7)(𝑠 + 11) (feedback loop elimination)

𝐾
𝑠(𝑠 + 7)(𝑠 + 11)
= 𝑠(𝑠 + 7)(𝑠 + 11) + 𝐾
𝑠(𝑠 + 7)(𝑠 + 11)

𝐾 𝐾
= = ⋕
𝑠(𝑠 + 7)(𝑠 + 11) + 𝐾 𝑠 3 +18𝑠 2 +77𝑠 + 𝐾
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Routh-Hurwitz Criterion

Step 2: Extract polynomial characteristic

𝐶(𝑠) 𝐾
= 3
𝑅(𝑠) 𝑠 +18𝑠 2 +77𝑠 + 𝐾

𝑠 3 +18𝑠 2 +77𝑠 + 𝐾 = 0
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Routh-Hurwitz Criterion

Step 3: Form the Routh array for the given polynomial characteristic

𝑠 3 +18𝑠 2 +77𝑠 + 𝐾 = 0

𝑠3 1 77 0

𝑠2 18 K 0

𝑠1 18 × 77 − (1 × 𝐾) 0 0
18
1386 − 𝐾
=
18
𝑠0 K 0 0
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Routh-Hurwitz Criterion

Step 4 − Verify the sufficient condition for the Routh-Hurwitz stability.

For stable system; all element of For unstable system; For marginal stable
the 1st column must be > 0 some of the element of system; some of the
the 1st column must be element of the 1st
For s1 column: in negative value column must be zero “0”
1386 − 𝐾 For s0 column:
>0 Therefore; Therefore;
18
𝐾>0
𝐾 < 1386 𝐾 > 1386 ⋕ 𝐾 = 1386 ⋕

Therefore;
0 < 𝐾 < 1386 ⋕
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