ENGR 6951: Automatic Control Engineering

Supplementary notes on Stability Analysis

Dr. George Mann,
Department of Mechanical Engineering
Memorial University of Newfoundland
Fall 2015
Example of determining Suitable K value to meet stability specifications
Consider the following open-loop transfer function.
G(s)H(s) =

s(s +

1
+ 8s + 32)

4)(s2

The characteristic equation is given by;

1+
1+

K
=0
s(s + 4)(s2 + 8s + 32)

s4

12s3

K
=0
+ 64s2 + 128s

(a) Determine poles and zeros;

G(s)H(s) =

1
s(s + 4)(s + 4 + j4)(s + 4 j4)

When K = 0, s = 0, 4, 4 + j4, 4 j4 (Four poles) When K = there are no finite

poles, and has FOUR asymptotes.
(b) The angle of asymptotes are;
i =

(2i + 1)
180 = (2i + 1)45
4

The asymptotes are therefore, 45 , 135 , 225 , 315

(c) The asymptote intersect is given by;
=

4 4 4
= 3
4
1

ENGR6951: Automatic Control Engineering, Fall 2015

(d) Existence of root locus on real axis,

4 s 0
(e) The break-away points. Rewrite the characteristic equation;
K = s4 + 12s3 + 64s2 + 128s

dK
= 4s3 + 362 + 128s + 128 = 0
ds
s3 + 9s2 + 32s + 32 = 0

The roots for the above equation can be solved as s = 1.577 and s = 3.7712 j2.553 Thus
the valid breakout point is s = 1.577. Substituting into the characteristic equation we get the
K for break-away point.
At break away point K = 83.6
(f) Angle of departure from the complex pole.
s (s + 4) (s + 4 + j4) (s + 4 j4) = 180
Refer the figure.

(180 ) (90 ) (90 ) = 180

where
= tan1 (4/4) = 45
(135 + 180 ) = 180
= 180 315
This will work out as
= 135

or 225

ENGR6951: Automatic Control Engineering, Fall 2015

(g) j corssing can be determined in two ways. First is to use the Routh array. The
characteristic equation is now;
s4 + 12s3 + 64s2 + 128s + K = 0
s4
s3
s2
s
s

1
12
b1
c1
K

64 K
128
K

where

12 64 128
= 53.33
12
b1 128 12K
c1 =
b1
The j crossing is given by c1 = 0 Thus
b1 =

53.33(128) 12K = 0
This will give K = 568.69.

To find the intersect point we use the characteristic equation and substitute s = j.
(j)4 + 12(j)3 + 64(j)2 + 128(j) + K = 0
4 j12 3 64 2 + j128 + K = 0
Collecting real and imaginary parts we get;
( 4 64 2 + K) + j(12 3 + 128) = 0

ENGR6951: Automatic Control Engineering, Fall 2015

This means
4 64 2 + K = 0;

12 3 + 128 = 0

(12 2 128) = 0
p
The solutions are = 0 and = 128/12 = 3.265. The j crossing is at j3.265
Substituting this into the real part we can alternatively determine the K value.
K = 4 + 64 2 = 568.89
(h) Now we need to determine a k value to produce damping = 0.707 at the dominant pole.
This We know that dominant poles are produced branches near the imaginary axis.

Thus a dominant pole can be classified as (here = n for simplicity);

p
s = + j 1 2
As cos = , we can write this as
s = cos + j sin = (cos + j sin )
Now = 0.707 and
= cos1 = cos1 0.707 = 45

As cos(45 ) = sin(45 ) = 1/ 2 = 0.707

s = (0.707 + j0.707) = (1 + j)
2
Now we look back the characteristic equation again.
s4 + 12s3 + 64s2 + 128s + K = 0

ENGR6951: Automatic Control Engineering, Fall 2015

Substitute for s. To do this we prepare all the necessary exponents.


2
2

2
2
(1 2j + j 2 ) =
(1 2j 1)
s = (1 + j) =
2
2
2
s2 = j 2

3
s3 = s s2 = (1 + j) (j 2 ) = (j j 2 )
2
2
3
s3 = (1 + j)
2
Similarly
s4 = s2 s2 = (j 2 )2 = 4
Now we substitute to the characteristic equation as follows.
 3




4
2
+ 12 (1 + j) + 64(j ) + 128 (1 + j) + K = 0
2
2
Now we collect real and imaginary parts;





3
2
4
+ 12 128 + K + j 12 64 + 128 = 0
2
2
2
2
This means

3
4 + 12 128 + K = 0; 12 64 2 + 128 = 0
2
2
2
2


2
128
12 64 +
=0
2
2
This it is either = 0 or
128
2
12 64 + = 0
2
2

64 2 128
2
+
=0
12
12
2 7.542 + 10.67 = 0
Solving the quadratic equation we get;
= 1.886 or = 5.656
Obviously the solution is = 1.886. Substituting to the real part we can calculate the corresponding K.
3

K = 4 12 + 128 = 126
2
2