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Matthew M. Peet

Illinois Institute of Technology

Overview

Determine whether a system is stable. An easy way to make sure feedback isnt destabilizing Construct the Routh Table

M. Peet

2 / 28

A Stability Test

We know that for a system with Transfer function (s) = n(s) G d(s) Input-Output Stability implies that all roots of d(s) are in the Left Half-Plane

All have negative real part.

Im(s) CRHP

Re(s)

Question: How do we determine if all roots of d(s) have negative real part? Example: s2 + s + 1 (s) = G s4 + 2s3 + 3s2 + s + 1

M. Peet

3 / 28

A Stability Test

Another Variation

Determining stability is not that hard (Matlab). Now suppose we add feedback: (s) = k Controller: Static Gain: K

x1

Closed Loop Transfer Function: y (s) = (s)K (s) G u (s) (s)K (s) 1+G

mc

x2 mw u

Closed Loop Transfer Function: k (s2 + s + 1) s4 + 2s3 + (3 + k )s2 + (1 + k )s + (1 + k ) We know that increasing the gain reduces steady-state error. But how high can we go? What is the maximum value of k for which we have stability?

M. Peet Lecture 10: Control Systems 4 / 28

A Stability Test

Suppose we are given a polynomial denominator d(s) = sn + an1 sn1 + + a0 Fact:

n(s) d(s)

Question: How to determine if any roots of a(s) have negative real part Simple Case All Real Roots. Suppose all the roots of d(s) had negative real parts. d(s) = (s p1 )(s p2 ) (s pn ) Observe what happens as we expand out the roots: d(s) = (s p1 )(s p2 )(s p3 )(s p4 ) (s pn ) = (s2 (p1 + p2 )s + p1 p2 )(s p3 )(s p4 ) (s pn ) = = sn (p1 + p2 + + pn )sn1 + (p1 p2 + p1 p3 + )sn2 (p1 p2 p3 + p1 p2 p4 + )sn3 + + (1)n p1 p2 pn

M. Peet Lecture 10: Control Systems 5 / 28

A Stability Test

So if we write d(s) = sn + an1 sn1 + + a0 we get an1 = (p1 + p2 + + pn ) an2 = (p1 p2 + ) an3 = (p1 p2 p3 + ) Critical Point: If d(s) is stable, all the pi are negative. an1 = (p1 + p2 + + pn ) > 0 an2 = (p1 p2 + ) > 0 an3 = (p1 p2 p3 + ) > 0 Conclusion: All the coecients of d(s) are positive!!! Also true if the pi are complex

Harder to show. If any coecient is negative, d(s) is unstable. Note! If all ai are positive, that proves nothing.

M. Peet Lecture 10: Control Systems 6 / 28

(s) = k Controller: Static Gain: K

x1

mc

x2 mw u

Examine the denominator: d(s) = s4 + 2s3 + (3 + k )s2 + (1 + k )s + (1 + k ) All coecients are positive for all positive k > 0

M. Peet Lecture 10: Control Systems 7 / 28

Consider the very simple transfer function (s) = G The coecients of d(s) = s3 + s2 + s + 2 are all positive. However, the roots of d(s) are at p1 = 1.35

Stable p2,3 = .177 1.2 Positive Real Part - Unstable

s3

s2

1 +s+2

M. Peet

8 / 28

Rouths Method

Introduced in 1874

Generalizes the previous method Introduces additional combinations

of coecients

Based on Sturms theorem.

M. Peet

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Rouths Method

Step 2

Write the coecients in 2 rows First row starts with an Second row starts with an1 Other coecients alternate between rows Both rows should be same length

Continue until no coecients are left Add zero as last coecient if necessary

M. Peet

10 / 28

Rouths Method

Step 3

The third row will be the same length as the rst two

det b1 =

a4 a2 a3 a1 a3

det b2 =

a4 a0 a3 0 a3

det b3 =

a4 a3 a3

0 0

The denominator is the rst entry from the previous row. The numerator is the determinant of the entries from the previous two

rows:

The rst column The next column following the coecient det bk = an an2k an1 an2k1 an1

M. Peet Lecture 10: Control Systems 11 / 28

Rouths Method

Step 4

Treat each following row in the same way as the third row

There should be n + 1 rows total, including the rst row.

M. Peet Lecture 10: Control Systems 12 / 28

Rouths Method

Step 4

Theorem 1.

The number of sign changes in the rst column of the Routh table equals the number of roots of the polynomial in the Closed Right Half-Plane (CRHP). Note: Any row can be multiplied by any positive constant without changing the result.

M. Peet Lecture 10: Control Systems 13 / 28

Rouths Method

Numerical Example

To improve performance, we close the loop with a gain of 1000 (s) = 1000 Controller: K

The Closed-Loop Transfer Function is 1000 s3 + 10s2 + 31s + 1030 Question: Have we destabilized the system?

M. Peet Lecture 10: Control Systems 14 / 28

Rouths Method

Numerical Example

We divide the second row by 10 There are two sign changes: 1 72 and 72 103 Two poles in the CRHP.

Feedback is Destabilizing!

M. Peet

15 / 28

Recall the suspension Problem with feedback: Closed Loop Transfer Function:

mc x1

x2

Is it stable for any k > 0???

mw u

M. Peet Lecture 10: Control Systems 16 / 28

1 2 b1

3+k 1+k b2

1+k 0 b3

Start by calculating the coecients in the rst row: det b1 = and det b2 = which gives s4 s3 s2 s So far, so good.

Now calculate the next row.

M. Peet Lecture 10: Control Systems 17 / 28

1 2 2 1 2

3+k 1+k

1 (5 + k ) 2

=1+k

1 2

1 2 (5 c1

+ k)

1+k 0 0 0

The coecients for the next row are det c1 = = and c2 = 0. s4 s3 s2 s 1 1 2

1 (5 + k ) 22 k +2k+1 5+k

1 2 (5 + k ) 1 1 2 (5 + k )

1+k +k

k 2 + 2k + 1 5+k

d1

1+k 0 0 0 0

Now calculate the nal row.

M. Peet Lecture 10: Control Systems 18 / 28

There is only one non-zero coecient in the last row. det d1 = s4 s3 s2 s 1 1 2

1 (5 + k ) 22 k +2k+1 5+k 1 (5 + k ) 22 k +2k+1 5+k k2 +2k+1 5+k

1+k 0

=k+1 1+k 0 0 0 0

1+k

Conclusion: No matter what k > 0 is, the rst column is always positive. No sign changes for any k . Stable for any k . Well nd out why later on. Feedback CANNOT destabilize the suspension system.

M. Peet Lecture 10: Control Systems 19 / 28

Stability of Quadratics

What about a simple second-order system?

Amplitude Impulse Response 2.5 2

1 s2 + bs + c We know the poles are at p1,2 = b Calculate det The Routh table is s2 s 1 1 b c c 0 0 0 0 0 1 b b c 0 = b2 4c

6 Time (sec)

10

12

bc =c b

M. Peet Lecture 10: Control Systems 20 / 28

Now consider a third order system: 1 s3 + as2 + bs + c det The Routh table is s3 s2 s 1 1 a b c b c 0 0 0 0 0 0 det 1 a a a b b b c c ab c =b a a =c

= c 0

c a c a

c a

a>0 c>0 b>

c a

M. Peet Lecture 10: Control Systems 21 / 28

Rouths Method

Numerical Example, Revisited

Now lets look at the previous example to determine the maximum gain: We have the stable transfer function (s) = G 1 (s + 2)(s + 3)(s + 5)

The Closed-Loop Transfer Function is k s3 + 10s2 + 31s + 30 + k But this is a third order system!

M. Peet Lecture 10: Control Systems 22 / 28

Rouths Method

Numerical Example, Revisited

a > 0, which means 10 > 0 c > 0, which means 30 + k > 0 b>

c a

k+30 10

or

M. Peet Lecture 10: Control Systems 23 / 28

Consider the transfer function (s) = G The Routh Table begins: s5 s4 s3 The next entry in the table will be det 2 0 0 4 6 12 0 1 2 0 2 4 6 11 10 0 s5 + 2s4 + 2s3 1 + 4s2 + 11s + 10

Which is problematic. Note: If there is a zero in the rst column, the system is only marginally stable

Small changes in the coecients lead to instability.

M. Peet Lecture 10: Control Systems 24 / 28

The solution is to use instead of 0 in the rst column. s5 s4 s3 1 2 2 4 6 11 10 0

We have at least one sign change At least one unstable pole.

M. Peet

25 / 28

We can keep calculating if necessary. s5 s4 s3 s3 s2 s2 s s 1 So there are two sign changes

Two unstable poles

1 2 0 4 12 12

10 +72 12

2

2 4 6 6

10

11 10 0 0 0 0 0 0 0

10 0 0 0

6 10

M. Peet

26 / 28

Consider the transfer function (s) = G The Routh Table begins: s5 s4 s3 The next entry in the table will be det 7 42 0 0 0 = 0 0 1 7 0 6 42 0 8 56 0 s5 + 7s4 + 6s3 1 + 42s2 + 8s + 56

Which is even more problematic - the whole row is zero. We wont cover this case.

However, it can be done - see book.

M. Peet Lecture 10: Control Systems 27 / 28

Summary

What have we learned today? The Routh-Hurwitz Stability Criterion:

Determine whether a system is stable. An easy way to make sure feedback isnt destabilizing Construct the Routh Table

M. Peet

28 / 28

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