EE362 Ch5

Stability Analysis
Assoc. Prof. Enver Tatlicioglu

Department of Electrical & Electronics Engineering
Izmir Institute of Technology
Chapter 5
Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)
EE362 Feedback Control Systems
Chapter 5
1 / 70
BIBO stability
There are many classifications of stability in system analysis.
Figure: Stability, marginal stability and instability
For LTI systems, they all are basically same which is bounded input
bounded output (BIBO) stability.
If input is bounded (i.e., |u (t)| < K1 ), then output is also bounded
(i.e., |y (t)| < K2 ).
Chapter 5
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BIBO stability
In the time domain, the output has the form
+
Z
y (t) =
h ( ) u (t ) d.
Bounding the output results in

+

Z

|y (t)| =
h ( ) u (t ) d

+
Z
+
Z
|h ( ) u (t )| d
|h ( )| |u (t )| d.
Chapter 5
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BIBO stability
After noting that |u (t)| < K1 , we obtain

+
Z
|y (t)| K1
|h ( )| d.
So if a system is BIBO stable, then

+
Z
|h ( )| d < .
Chapter 5
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BIBO stability
In the Laplace domain, the transfer function has the form
m
Q
(s zi )
Y (s)
i=1
= n
H (s) =
Q
R (s)
(s pi )
K
i=1
where we consider physical systems that satisfy m n.

We first consider distinct poles.
So, from inverse Laplace transform, we obtain
h (t) =
n
X
ki exp (pi t)
i=1
thus
+
Z
|h ( )| d < iff {pi } < 0 i.
Chapter 5
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BIBO stability
If poles are not distinct, for an mth order pole, h (t) will have terms
of the form
k
t (m1) exp (pi t)
(m 1)!
thus
+
Z
|h ( )| d < iff {pi } < 0 i.
Notice that, this is the same condition as the distinct poles case.
So for Laplace domain condition for stability, all poles of the transfer
function must be in the open left half plane (i.e., none on j axis).
Chapter 5
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BIBO stability
Example
Is T (s) =
2
s 2 +3s+2
stable?
Note that
T (s) =
2
(s + 2) (s + 1)
where the poles are at s = 1 and s = 2.
Since all poles of the transfer function are in the open left half plane,
the system is stable.
Chapter 5
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BIBO stability
Example
Is T (s) =
Note that
10s+24
s 3 +2s 2 11s12
stable?
T (s) =
10 (s + 2.4)
(s + 1) (s 3) (s + 4)
where the roots are at s = 1, s = 3 and s = 4.
Since not all poles of the transfer function are in the open left half
plane, the system is unstable.
Chapter 5
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BIBO stability
Example
Is T (s) =
Note that
2s
s 2 +1
stable?
T (s) =
2s
(s + j) (s j)
where the roots are at s = j.

Since the poles of the transfer function are on j axis, the system is
marginally stable.
Consider r (t) = sin (t), then the output is found as
Y (s) = T (s) R (s) =
1
2s
2s
=
2
2
+1s +1
(s + 1)2
s2
y (t) = t sin (t) 1 (t)

which obviously grows unbounded as time increases.
So marginally stable systems are unstable because some inputs may
result in unbounded output.
Chapter 5
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Routh Hurwitz stability criterion
Factoring higher order polynomials to find their poles is tedious and

numerically not well conditioned.
We want other stability tests and we also want to find margins of
stability (i.e., how far is the system from instability?).
Routh Hurwitz stability criterion considers the denominator of the
transfer function without factoring.
Routh test is a very mechanical test.
It is not intuitive.
Its proof is very difficult.
Chapter 5
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Routh Hurwitz stability criterion: Case 0

For a second order system, the denominator of the transfer function
has the form
a (s) = s 2 + a1 s + a0
= (s p1 ) (s p2 )
= s 2 (p1 + p2 ) s + p1 p2 .
Note that, the poles are either real or they are complex conjugates.
Since, for stability, we need {pi } < 0, it is clear that
(p1 + p2 ) = a1 > 0
p 1 p 2 = a0 > 0
are required for stability.

Chapter 5
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For a third order system, the denominator of the transfer function has
the form
a (s) = s 3 + a2 s 2 + a1 s + a0
= (s p1 ) (s p2 ) (s p3 )
= s 3 (p1 + p2 + p3 ) s 2 + (p1 p2 + p1 p3 + p2 p3 ) s p1 p2 p3 .
Note that, the poles are either real or two of them are complex
conjugates.
Since, for stability, we need {pi } < 0, it is clear that
(p1 + p2 + p3 ) = a2 > 0
(p1 p2 + p1 p3 + p2 p3 ) = a1 > 0
p1 p2 p3 = a0 > 0
are required for stability.
Chapter 5
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Trend: Stability is equivalent to none of the coefficients ai being less
than or equal to 0.
Does this trend continue?
Note that
an1 = (1) sum of all poles
an2 = sum of products of poles taken two at a time

an3 = (1) sum of products of poles taken three at a time
..
.
a0 = (1)n product of all poles.
From this trend, we can conclude that:
If any coefficient ai = 0, then not all poles in LHP.
If any coefficient ai < 0, then at least one pole in RHP.
So our first test criteria is:
If any coefficient ai 0, then the system is unstable.
Chapter 5
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Example
Check the stability of a (s) = s 2 + 1.

Since the coefficient of s 1 is equal to 0, we can conclude that not all
poles are in LHP.
The poles are at s = j, so the system is marginally stable.
Chapter 5
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Example
Check the stability of a (s) = s 3 + 2s 2 11s 12.
Since the coefficient of s 1 and the constant term are negative, we can
conclude that there is at least one pole in RHP.
The poles are at s = 1, s = 4, and s = +3, so the system is
unstable.
Chapter 5
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Example
Check the stability of a (s) = s 3 + s 2 + 2s + 8.

We can not conclude if this system is stable or not using our first test
criteria.
The poles are at s = 2, s =
1
2
15
2 ,
so the system is unstable.
How do we find out this without factoring?

Once we have determined that ai 0, we can run the Routh test to
find the number of poles in the RHP.
Important: In this course, we consider the case where the
denominator of the transfer function is monic.
Chapter 5
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We form the Routh array for a (s) = s n + an1 s n1 + + a1 s + a0 as
sn
s n1
s n2
s n3
..
.
s1
s0
1
an2 an4
an1 an3 an5
b1
b2
b3
c1
c2
j1
k1
where the entries of the third line are obtained as

1 1
1 1
an2
an4
b1 =
, b2 =

a
a
a
an1
an1
n1
n3
n1 an5
and similarly, the entries of the fourth line are obtained as

1 an1 an5
1 an1 an3
,c =
c1 =
b2 2
b3
b1 b1
b1 b1
number of unstable poles = number of sign changes in left column.
Chapter 5
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Example
Check the stability of a (s) = s 3 + s 2 + 2s + 8.

The routh array is formed as
s3 1 2
s2 1 8
s 1 b1
s 0 c1

1 2

where b1 =
1 8 = 6.
Updated routh array is
s3 1 2
s2 1 8
s 1 6
s 0 c1

8
1 1
where c1 = 6
6 0 = 8.
1
1
Chapter 5
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Example
Final routh array is
s3 1 2
s2 1 8
s 1 6
s0 8
where in the left column, there are two sign changes

1 6 and 6 8
thus there are two poles in RHP.
Chapter 5
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Example
Check the stability of a (s) = s 2 + a1 s + a0 .

The routh array is
s 2 1 a0
s 1 a1
s 0 b1

a0
1 1
= a0 .
where b1 = a1
a1 0
s 2 1 a0
s 1 a1
s 0 a0
where there will be no sign changes in the left column iff
a1 > 0 and a0 > 0.
Chapter 5
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Example
Check the stability of s 3 + a2 s 2 + a1 s + a0 .

The routh array is
where b1 =
1
a2
s 3 1 a1
s 2 a2 a0
s 1 b1
s 0 c1

1 a1

a2 a0 =
1
a2
(a0 a1 a2 ) = a1
a0
a2 .
Chapter 5
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Example

where c1 =

2
1
a
a1 a0
s3
1
a1
2
s
a2
a0
s 1 a1 aa20
c1
s0

a2
a0
= a0 .
a0
a1 a 2 0
s3
1
a1
s2
a2
a0
s 1 a1 aa20
s0
a0
a0
, a0 > 0.
a2 > 0 , a1 >
a2
Chapter 5
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Sometimes, an element in the left column is equal to 0.

This may cause the first element of the next row be found as
constant
.
0
In this case, we replace this element with as 0.
We count the number of sign changes in the left column for both
positive and negative values.
Chapter 5
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Example
Check the stability of a (s) = s 5 + 2s 4 + 2s 3 + 4s 2 + 11s + 10.

The routh array is
where b1 =
1
2
s5
s4
s3
s2
s1
s0
1 2 11
2 4 10
b1 b2
c1 c2
d1
e1

1 2
1 1 11
=
0
and
b
=
2
2 2 10 = 6.
2 4
Chapter 5
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Example

s 5 1 2 11
s 4 2 4 10
s3 0 6
s 2 c1 c2
s 1 d1
s 0 e1
Notice that, since we have 0 in the first element of the s 3 row, we
replace it with .
Chapter 5
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Example
New routh array is
s 5 1 2 11
s 4 2 4 10
s3 6
s 2 c1 c2
s 1 d1
s 0 e1

2 4

where c1 =
6 =

2 10

= 10.
c2 = 1

0
1
(12 4) =
12
+ 4 and
Since for 0, | 12
| >> 4, and the sign of c1 is not affected by the
presence of 4, for simplicity reasons, we can use c1 12
.
Chapter 5
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Example

s5
s4
s3
s2
s1
s0
1
2
12
d1
2 11
4 10
6
10
e1

10 2
6
where d1 = 12 12
= 12
10 + 72
= 12 + 6 and since as

10
10 2
0, then 12
0, for simplicity reasons, we can use d1 6.
1
Chapter 5
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Example

s5
s4
s3
s2
s1
s0
where e1 =
1
6
12
1
2
12
2 11
4 10
6
10
6
e1

10
= 10.
0
Chapter 5
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Example

s5
s 5 1 2 11
4
s4
2 4 10
s
new s 3
old s 3 0 6
2
s c1 c2
s2
s 1 d1
s1
0
s e1
s0
1
2
12
2 11
4 10
6
10
6
10
if > 0, there are two sign changes in the left column,

if < 0, there are also two sign changes in the left column.
So there are two poles in RHP.
Chapter 5
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Sometimes an entire row in a Routh array is equal to 0.
This means that there are polynomial factors such that one factor has
conjugate mirror poles.
We need to complete Routh array by forming the polynomial a1 (s)

from the last nonzero row in the array.
Note that, a1 (s) is a factor of a (s).
Notice that, a1 (s) has even or odd orders of s only.
Since it is missing some orders of s, it is unstable by case 0.
We want to see if it has roots in the RHP or only on the j axis.
1 (s)
and then continue.
We replace the zero row with dads
Chapter 5
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Example
Check the stability of a (s) = s 4 + s 3 + 3s 2 + 2s + 2.

The routh array is
s4 1 3 2
s3 1 2
s 2 b1 b2
s 1 c1
s 0 d1

1 1 3
1 1 2
where b1 = 1
=
1
and
b
=
2
1 1 0 = 2.
1 2
Chapter 5
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Example
Updated Routh array is

s4 1 3 2
s3 1 2
s2 1 2
s 1 c1
s 0 d1
where c1 =
1
1

1 2

1 2

= 0.

Chapter 5
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Example

s4 1 3 2
s3 1 2
s2 1 2
s1 0
s 0 d1
where the entire s 1 row is 0.
Thus, from the s 2 row, we form
a1 (s) = s 2 + 2
and its derivative with respect to s is equal to
da1 (s)
= 2s
ds
from which the new s 1 row is obtained.
Chapter 5
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Example
New Routh array is
where d1 =
1
2

1 2

2 0
s4 1 3 2
s3 1 2
s2 1 2
s1 2
s 0 d1

= 2.

Chapter 5
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Example
Final Routh array is

s4
s4 1 3 2
s3 1 2
s3
2
s
s2
1 2
1
0
old s
new s 1
s 0 d1
s0
1 3 2
1 2
1 2
2
2
where there are no sign changes in the left column.

Thus there are no RHP poles.
The poles of a1 (s) are at s = j 2, so the system is marginally

stable.
Chapter 5
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Example
Check the stability of a (s) = s 4 + 4.

The routh array is
s4 1 0 4
s3 0 0
s 2 b1 b2
s 1 c1
s 0 d1
where the entire s 3 row is 0.
Thus, from the s 4 row, we form
a1 (s) = s 4 + 4
and its derivative with respect to s is equal to
da1 (s)
= 4s 3
ds
from which the new s 3 row is obtained.
Chapter 5
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Example
New Routh array is
s4 1 0 4
s3 4 0
s 2 b1 b2
s 1 c1
s 0 d1

1 1 4
1 1 0
=
0
and
b
=
where b1 = 4
2
4 4 0 = 4.
4 0
s4 1 0 4
s3 4 0
s2 0 4
s 1 c1
s 0 d1
Chapter 5
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Example
Note that, since we have 0 in the first element of the s 2 row, we

replace it with .
New Routh array is
where c1 =

4 0

4
s4 1 0 4
s3 4 0
s2 4
s 1 c1
s 0 d1

=

16
.
Chapter 5
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Example

s4
s3
s2
s1
s0
where d1 =
16
16

4
=
0
1
4
0 4
0
4
16
d1
64
16
= 4.
Chapter 5
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Example

s4
s4 1 0 4
s4 1 0 4
3
3
s3
old s
new s
0 0
4 0
2
2
new s 2
s b1 b2
old s
0 4
s 1 c1
s 1 c1
s1
0
0
s d1
s d1
s0
1
4
0 4
0
4
16
if > 0, there are two sign changes in the left column,

if < 0, there are also two sign changes in the left column.
So there are two poles in RHP.
Other two poles are mirrors in LHP.
Chapter 5
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Example
Find the values of K to make the following closedloop system stable.
The transfer function can be found as

Y (s)
T (s) =
R (s)
s+1
K s(s1)(s+6)
=
s+1
1 + K s(s1)(s+6)
=
K (s + 1)
.
s (s 1) (s + 6) + K (s + 1)
Chapter 5
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Example
The denominator of the transfer function is found as

a (s) = s (s 1) (s + 6) + K (s + 1)
= s 3 + 5s 2 + (K 6) s + K .
We will check the stability of a (s).

The Routh array is
s3
s2
s1
s0

1 1 K 6
=
where b1 = 5
5
K
1 K 6
5
K
b1
c1
1
5
(K 5K + 30) =
4K 30
.
5
Chapter 5
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Example

s3
s2
s1
s0

5
where c1 = 4K 30 4K 30
5
5
1
s3
s2
s1
s0
1
5
K 6
K
4K 30
5
c1

K
= K.
0
1
5
K 6
K
4K 30
5

and K > 0.
4K 30
5
Chapter 5
>0
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Example
Figure: Unit step response for different values of K

Chapter 5
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Example
Find the values of K to make the following closedloop system stable.
The transfer function can be found as

T (s) =
=
=
Y (s)
R (s)
1
KTI s+K
s(s+1)(s+2)
KTI s+K
+ s(s+1)(s+2)
KTI s + K
.
s (s + 1) (s + 2) + KTI s + K
Chapter 5
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Example
The denominator of the transfer function is found as

a (s) = s (s + 1) (s + 2) + KTI s + K
= s 3 + 3s 2 + (2 + KTI ) s + K .
We will check the stability of a (s).
The Routh array is
s 3 1 2 + KTI
K
s2 3
s 1 b1
s 0 c1

1
1 1 2 + KTI
where b1 = 3
= 3 (K 6 3KTI ) =
3
K
6+3KTI K
.
3
Chapter 5
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Example

s3
s2
s1
s0
where c1 =
6+3KTI K
3
1
3
6+3KTI K
3
c1
3
6+3KTI K
3
s3
s2
s1
s0
2 + KTI
K

K
= K.
0
1
3
2 + KTI
K
6+3KTI K
3

6+3KTI K
> 0 and K > 0.
3
Chapter 5
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Example
Figure: Unit step response for different values of K and TI

Chapter 5
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Example
Find the values of K to make the following system stable

a (s) = s 5 + 5s 4 + 10s 3 + 10s 2 + 5s + K .
The Routh array is
where b1 =
1
5
s5
s4
s3
s2
s1
s0

1 10

5 10
1 10 5
5 10 K
b1 b2
c1 c2
d1
e1

= 8 and b2 =

1
5

1 5

5 K
25K
5 .
Chapter 5
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Example

s5 1
s4 5
s3 8
s 2 c1
s 1 d1
s 0 e1
where c1 =
1
8

5

8
10
25K
5
10
10
5
K
25K
5
c2
55+K
8
and c2 =
1
8

5 K

8 0 = K.
Chapter 5
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Example

s5
s4
s3
s2
s1
s0
where d1 =
55+K
8
Note that, e1 = K .
8
55+K
8
1
5
8
10
10
55+K
8
d1
5
K
25K
5
e1
25K
5
K 2 350K +1375
.
5(55+K )
Chapter 5
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Example

s5
s4
s3
s2
s1
s0
1
5
8
55+K
8
K 2 350K +1375
5(55+K )
10
10
5
K
25K
5

K 2 350K +1375
> 0 and K > 0.
5(55+K )
From
55+K
8
55+K
8
> 0,
> 0, we have K > 55.

2
3.88)
350K +1375
Note that, K 5(55+K
= (K +353.88)(K
> 0, thus
)
5(55+K )
3.88 > K > 55 or 353.88 > K .
Combining these with K > 0 results in 3.88 > K > 0.
Chapter 5
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Example
Find the values of K to make the following system stable

a (s) = s 5 + 1.9s 4 + 5.1s 3 + 6.2s 2 + (2 + K ) s + 4K .
The Routh array is
s 5 1 5.1 2 + K
s 4 1.9 6.2
4K
s 3 b1 b2
s 2 c1 c2
s 1 d1
s 0 e1

5.1
1 1
= 1.83 and
where b1 = 1.9
1.9 6.2

1 2+K
= 2 1.1K .

b2 = 1
1.9 1.9
4K
Chapter 5
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Example

s5
1
5.1
s 4 1.9
6.2
s 3 1.83 2 1.1.K
s 2 c1
c2
s 1 d1
s 0 e1

1.9
6.2

where c1 =
1.83 2 1.1.K

4K
1 1.9
= 4K .
c2 = 1.83
1.83 0
1
1.83
2+K
4K

= 1.14K + 4.12 and

Chapter 5
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Example

1
5.1
s5
4
s
1.9
6.2
s3
1.83
2 1.1.K
s 2 1.14K + 4.12
4K
1
d1
s
s0
e1
where d1 =
1
1.14K +4.12
(1.25K 2 +5.04K +12.77)

.
1.14K +4.12
2+K
4K

1.83
2 1.1.K

1.14K + 4.12
4K
Note that, e1 = 4K .
Chapter 5
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Example

s5
s4
s3
s2
s1
s0
1
1.9
1.83
1.14K + 4.12
5.1
6.2
2 1.1.K
4K
2+K
4K
(1.25K 2 +5.04K +12.77)

1.14K +4.12
4K

(1.25K 2 +5.04K +12.77)
1.14K + 4.12 > 0,
> 0 and 4K > 0.
1.14K +4.12
From 1.14K + 4.12 > 0, we have K > 3.61.
(1.25K 2 +5.04K 3.71)
0.63)(K +4.66)
Note that,
= (K 1.14K
> 0, thus
1.14K +4.12
+4.12
0.63 > K > 3.61 or 4.66 > K .
Combining these with K > 0 results in 0.63 > K > 0.
Chapter 5
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Example
Consider the following system
where
D (s) = K
1
s +
and G (s) =
.
2
2
s (s + 1)
s + 0
Use Routh Hutwitz stability criteria to find the range of K (in terms
of 0 and ) such that the closedloop system remains stable.
Next, use 0 = 1 and = 0.25 to find the range of K numerically.
Chapter 5
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Example
The transfer function is found as

T (s) =
=
Y (s)
R (s)
1
K s s+
2 + 2 s(s+1)
0
1
1 + K s s+
2 + 2 s(s+1)
0
s2
02
K (s + )
.
s (s + 1) + K (s + )
The denominator of the transfer function is

a (s) = s 2 + 02 s (s + 1) + K (s + )

= s 4 + s 3 + 02 s 2 + 02 + K s + K .
We need to check the stability of a (s).
Chapter 5
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Example
Routh array is
s4 1
02
K
2
3
1 0 + K
s
s 2 b1
b2
s 1 c1
s 0 d1

02
1 1
= K and b2 =
where b1 = 1
2
1 0 + K
1
1

1 K

1 0 = K .
Chapter 5
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Example

1
s4
s3
1
2
s K
s 1 c1
s 0 d1
where

1 2 + K
0

c1 =
K
K
Note that, d1 = K .
1
K
1
K
02
+K
K
02

K + 02 K + K 2 = + 02 + K .
Chapter 5
60 / 70

Example

1
s4
s3
1
2
s
K
s 1 + 02 + K
s0
K
02
+K
K
02
where there will be no sign changes in the left column iff K < 0,
+ 02 + K > 0 and K > 0.
Since we are given that = 0.25, from K > 0, we need K > 0, but
since K < 0, we can conclude that no values of K will result in
stability of the closedloop system.
Chapter 5
61 / 70

Example
Consider the following system
where
D (s) = kP + kD s +
kI
1
and G (s) = 2
.
s
s +K
Use Routh Hutwitz stability criteria to find the range of K (in terms
of kP , kD and kI ) such that the closedloop system remains stable.
Chapter 5
62 / 70

Example
The transfer function is found as

T (s) =
=
Y (s)
R (s)

1
kP + kD s + ksI s 2 +K

1
1 + kP + kD s + ksI s 2 +K
kP s + kD s 2 + kI
.
s (s 2 + K ) + (kP s + kD s 2 + kI )
The denominator of the transfer function is

a (s) = s s 2 + K + kP s + kD s 2 + kI
= s 3 + kD s 2 + (kP + K ) s + kI .
We need to check the stability of a (s).

Chapter 5
63 / 70

Example
The Routh array is

1

where b1 =
kD
Note that, c1 = kI .
1
kD
s 3 1 kP + K
s 2 kD
kI
1
s
b1
s 0 c1

kP + K kD kP +kD K kI
.
kD
=
kI
Chapter 5
64 / 70

Example

s3
s2
s1
s0
1
kD
kP + K
kI
kD kP +kD K kI
kD
kI

kD > 0 ,
kD kP + kD K kI
> 0 , kI > 0.
kD
Chapter 5
65 / 70

Example
Modify the Routh Hurwitz stability criterion so that it determines the

number of poles that are at the left of 2 for a (s) = s 2 + a1 s + a0 .
Let p = s + 2 thus s = p 2.
Substituting s = p 2 in a (s) results in
a (p) = a (s = p 2) = (p 2)2 + a1 (p 2) + a0
= p 2 + (a1 4) p + 4 2a1 + a0 .
Routh array is
p2
1
4 2a1 + a0
p1
a1 4
p 0 4 2a1 + a0
where the poles of a (s) are to the left of 2 iff a1 4 > 0 and
4 2a1 + a0 > 0. From a1 4 > 0, we have a1 > 4, and from
4 2a1 + a0 > 0, we have 4 + a0 > 2a1 , so combining these results in
4 + a0 > 2a1 > 8 for the poles of a (s) to be at the left of 2.
Chapter 5
66 / 70

Example
Determine the number of poles of a (s) = s 2 + 2s + 1 that are at the

left of 2.
Note that, the roots of a (s) are at 1 (i.e., double roots).
a (p) = a (s = p 2) = (p 2)2 + 2 (p 2) + 1
= p 2 2p + 1.
Routh array is
p2 1 1
p 1 2
p0 1
where there are two roots on the modified right half plane (where the
modified right half plane is to the right of 2).
Chapter 5
67 / 70

Example
Determine the number of poles of a (s) = s 2 + 4s + 3 that are at the

left of 2.
Note that the roots of a (s) are at 1 and 3.

a (p) = a (s = p 2) = (p 2)2 + 4 (p 2) + 3
= p 2 1.
Routh array is
p 2 1 1
p1 0
p 0 b1
where the entire p 1 row is 0.

Chapter 5
68 / 70

Example
Thus, from the p 2 row, we form

a1 (p) = p 2 1
and its derivative with respect to p is found as
da1 (p)
= 2p.
dp
p 2 1 1
p1 2
p 0 b1
Note that, b1 = 1.
Chapter 5
69 / 70

Example

old
p 2 1 1
p1 0
p 0 b1
new
p 2 1 1
p1 2
p 0 1
where there is only one sign change (i.e., 2 1), so we have one
pole on the modified right half plane (where the modified right half
plane is to the right of 2).
Chapter 5
70 / 70

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Stability Analysis

Assoc. Prof. Enver Tatlicioglu

Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)

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Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)

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Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)

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where we consider physical systems that satisfy m n.

Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)

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Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)

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where the poles are at s = 1 and s = 2.

Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)

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where the roots are at s = 1, s = 3 and s = 4.

Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)

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where the roots are at s = j.

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Routh Hurwitz stability criterion

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Check the stability of a (s) = s 3 + s 2 + 2s + 8.

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Routh Hurwitz stability criterion: Case 1

where the entries of the third line are obtained as

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Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)

EE362 Feedback Control Systems

Routh Hurwitz stability criterion

Check the stability of a (s) = s 3 + s 2 + 2s + 8.

Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)

EE362 Feedback Control Systems