Chapter 6 The Stability of Linear

Feedback Systems

The concept of stability

Routh-Hurwitz criterion

Relative stability

Examples

1
The Concept of Stability

? This is due to torque

generated by the gravity
force after smaller
perturbation from its
equilibrium position.

2
 Why Stability Is Important

https://www.youtube.com/watch?v=XggxeuFDaDU

a) as oscillation begins b) Catastrophic failure on

November 7,1940.
Tacoma Narrows Bridge was buildon July 1,1940. The bridge was
found to oscillate whenever the wind blew.
3
Why?
 S-Plane and Transient Response

Y ( s ) Pi ( s ) i ( s )
T (s) = = ,
R( s) ( s)
1 M Ai N Bk s + C k
Y (s) = + + 2 ,
s i =1s + i k =1 s + 2 k s + ( k + n )
2 2

M i t N
y (t ) = 1 + Ai e + Dk e k t sin( k t + k ),
i =1 k =1

A necessary and sufficient condition for a feedback system to

be stable is that all the poles of the system transfer function
4
have negative real parts.
The Laplace Transform

5
 The Laplace Transform

s +
=
s 2 + 2s + ( 2 + 2 )

6
S-Plane and Transient Response
Marginal stable

7
 Why Stability Is Important

a) as oscillation begins b) Catastrophic failure on

Tacoma Narrows Bridge was build November 7,1940.
on July 1,1940. The bridge was Given an example of unstable
found to oscillate whenever the system in real life.
wind blew. Microphone -Amplifier
Why? Marginal stable
8
 Definitions of Stability
BIBO stability: A system is said to be BIBO
stable if for any bounded input, its output is
also bounded.

Absolute stability: Stable /Unstable

Relative stability: Degree of stability

(i.e. how far from instability)

A stable linear system described by a T.F.

is such that all its poles have negative
real parts
9
 Feedback and Stability
System
type=?

K=3, stable K=7, unstable

0<K? To make the closed-loop system stable 10

 Feedback and Stability

Add integral controller can K=7, unstable

increase the system order.

Higher gain can lead to an unstable system. 11

Relationship between the coefficients and roots of
the characteristic equation
Consider the simple second-order characteristic equation:
b b 2 4ac
as + bs + c = 0
2 Roots: r1,2 = .
2a
b c
as + bs + c = s + s + = ( s r1 )( s r2 )
2 2
a a
b c
s + s + = (s r1 )(s r2 ) = s 2 (r1 + r2 )s + r1r2
2

a a
b c
r1 + r2 = r1r2 = ?
a a
For a stable system, the roots of the characteristic equation must have
negative real parts, or Re(r1 + r2 ) < 0, or the roots are real r1 + r2 < 0.
This implies: b/a>0 and c/a>0.
Is it possible to find the similar conditions for higher order system? 12
Relationship between the coefficients and roots of
the characteristic equation
Consider the nth-order characteristic equation as:
( s ) = q( s ) = a n s n + a n 1 s n 1 + ... + a1 s + a 0 = 0.
To ascertain the stability of the system it is necessary to
determine whether any one of the roots of q(s)=0 lies in
the right half of the s-plane (RHP). (If none, stable)
Rewrite the above equation in factored form, we have
a n ( s r1 )( s r2 ).....( s rn ) = 0,
where ri is the ith root of the characteristic equation.
13
Relationship between the coefficients and roots of
the characteristic equation
( s ) = q( s ) = a n s n + a n 1 s n 1 + ... + a1 s + a 0 = 0.

a n ( s r1 )( s r2 ).....( s rn ) = 0,

where ri is the ith root of the characteristic equation.

q( s ) = a n s n a n ( r1 + r2 + ... + rn ) s n 1
+ a n ( r1r2 + r2 r3 + r1r3 + ...) s n 2
a n ( r1r2 r3 + r1r2 r4 + ...) s n 3 + ...
+ a n ( 1) n r1r2 r3 ...rn = 0.
an1 =an (r1 + r2 + +), an2 =an (r1r2 + ....), a0 =(1) n an r1....rn
14
 Relationship between the coefficients and
roots of the characteristic equation
an1 =an (r1 + r2 + +), an2 =an (r1r2 + ....), a0 =(1) n an r1....rn
In other words, for an nth order characteristic equation, we obtain
q( s ) = a n s n a n ( sum of all the roots) s n 1
+ a n ( sum of the products of the roots taken 2 at a time) s n 2
n 3
a n ( sum of the products of the roots taken 3 at a time) s + ...
+ a n ( 1) n ( product of all n roots) = 0. ?

Note that all the coefficients of the polynomial much have the
same sign if all the roots are in the left-hand of the s-plane.
15
 Relationship between the coefficients and
roots of the characteristic equation
q( s ) = a n s n a n ( sum of all the roots) s n 1
+ a n ( sum of the products of the roots taken 2 at a time) s n 2
a n ( sum of the products of the roots taken 3 at a time) s n 3 + ...
+ a n ( 1) n ( product of all n roots) = 0.
It is necessary that all the coefficients for a stable system be
nonzero.
Those requirements are necessary but not sufficient.
That is we immediately know the system is unstable if they are
not satisfied; yet if they are satisfied, we must proceed father to
ascertain the stability of the system . ?
E.g: q ( s ) = ( s + 2)( s s + 4) = s + s + 2 s + 8,
2 3 2
16
Relationship between the coefficients and
roots of the characteristic equation
q( s ) = ( s + 2)( s s + 4) = ( s + s + 2 s + 8),
2 3 2

The system is unstable even that the polynomial

possesses all positive coefficients.
It is desired to obtain a necessary and sufficient
criterion for the stability of linear system with
nth order characteristic equation.

17
 Routh-Hurwitz Criterion
In the later 1800s, A. Hurwitz and E.J. Routh published
independently a method of investing the stability of a linear system.

Edward Routh, 1831 (Quebec)- Adolf Hurwitz, 1859

1907 (Cambridge, England) (Germany)-1919 (Zurich)
The Routh-Hurwitz criterion is a necessary and sufficient
criterion for the stability of linear systems. 18
Routh-Hurwitz Criterion
Consider the polynomial
n 1
( s=
) q ( s=
) an s + an 1s
n
+ ... + a1s + a0

Thegoal of Routh-Hurwitz stability criterion determining

whether the system is stable or unstable from characteristic
equation in polynomial form without actually solving for
the roots.

It will be given here without proof.

19
 Determining the Routh array
Consider the characteristic equation:

q(s)= an s n + an1s n1 + an2 s n2 + an3 s n3 + + a1s + a0= 0

First arrange the coefficients of the characteristic equation
in two rows, beginning with the first and second coefficients
and followed by the even-numbered and odd-numbered
coefficients:
n
s :: an an2 an4
n
s
1 : a
nn1
: n1 an3 an5
s
s

20
 Routh Array: Method (contd)
Then add subsequent
nn
rows to complete the ss :: aan n aan2
n 2
aan4
n 4

Routh array: s n 1 : a
n1
aan3 a

s : an1 n 1 n 3 an5
n 5
n 2
s : bn 1 bn 3 bn 5
n 3
s : cn 1 cn 3 cn 5
?! s :

2

1
s :
0
s : hn 1 21
 Routh Array: Method (contd)
sn : an an 2 an 4 Compute elements for the rest
s n 1 : an 1 an 3 an 5 rows:
an 1an 2 an an
3 1 an1 aann 2 an 2
s n 2 : bn 1 bn 3 bn 5 bn 1 = bn 1 = = , ,
an 1 an 1 ann11 anan13 an 3
s n 3 : cn 1 cn 3 cn 5
1 an an 4
bn 3 = ,
an 1 an 1 an 5
s2 : 1 an 1 an 3
cn 1 = ,
s1 : bn 1 bn 1 bn 3
s0 : hn 1

The number of roots of q(s) with positive real parts is

equal to the number of sign changes in the first column 22
Routh-Hurwitz Criterion

Initial layout for Routh table

23
Routh-Hurwitz Criterion

a4 a2 a4 a0 a4 0

a3 a1 a3 0 a3 0
= b3 for Routh table
Initial layout = b=
1 a0 =0
a3 a3 a3
a3 a1 a3 0 a3 0

b3 b1 b3 0 b3 0
= c3 =0 =0
b3 b3 b3

b3 b1 b 0 b3 0
3
c3 0 c3 0 c3 0
= b=
1 a0 =0 =0
c3 c3 c3

The number of roots in the right half plane equals

24
the number of sing changes in the first column
 Routh-Hurwitz Criterion
This criterion requires that there be no changes in sign in
the first column for a stable system. This requirement is
both necessary and sufficient.
Four distinct cases or configurations of the first column

array much be considered,

1. No element in the first column is zero;
2. there is zero in the first column, but some other
element of the row containing the zero in the first
column are nonzero;
3. there is a zero in the first column, and other
elements of the row containing the zero are also
zero;
4. and as in (3) with repeated roots on the j-axis.
25
 Case 1. No element in the first column is zero
Polynomial degree=2 Polynomial degree=3
Q ( s ) = a2 s 2 + a1s + a0 Q ( s ) = a3 s + a2 s + a1s + a0
3 2

s 2 a 2 a0 s 3 a3 a1
s1 a1 0 s 2 a 2 a0
s 0 b1 0 s1 b1 0
s 0 c1 0
1 a2 a0 1 a3 a1 a2 a1 a0 a3
where b1 = = a0 where b1 = = and c1 =
b1a0
= a0
a1 a1 0 a 2 a 2 a0 a2 b1
Stable if all are of same sign Stable if all are of same sign and
a1a2 > a0 a3 .
26
 Simple Systems
All zeros of polynomial a1s + a0 are in LHP if all
coefficients are positive.
All zeros of polynomial 2 + a1s + a0 are in LHP if all
2
a s
coefficients are positive.
All zeros of polynomial 3 a s 3
+ a 2 s 2
+ a1s + a0 are in LHP if all
coefficients are positive and a1a2 a0a3 > 0.

E.g.: The polynomial s 3 + 3s 2 + 2 s + k has all zeros in LHP

if k < 6, a1a2 a0 a3 =3 2 1 k = 6 k > 0.

27
 Routh Hurwitz Special Cases
For roots to be in LHP( the left half side of the s-plane) , it is
necessary (but sufficient only in second order case) that all
the coefficients be positive
Issues with awkward zero entries:
Case A: A zero-entry appears in the first column,
but other entries on the row are non-zero
-Solution: Take entry as small value >0 and
proceed, taking > 0 in subsequent calculations

Case B: A zero-entry appears in the first column,

and all other entries in that row are also zero
-Solution: Return to the previous row and form
the Auxiliary Polynomial, qa(s), which will be
a divisor of the original q(s), divide out qa(s),
and proceed. 28
Case 2.A zero-entry appears in the first column,
but other entries on the row are non-zero
Solution: Take entry as small value >0 and proceed,
-

taking >0 in subsequent calculations. After completing

The process let approach to zero.
q( s ) = s 5 + 2 s 4 + 2 s 3 + 4 s 2 + 11s + 10.
1 2
s5 1 2 11 =0
2 4
s4 2 4 10
4 12 12
s3 6 0 c1 = = ,

s2 c1 10 0 6c1 10
d1 = 6.
s1 d1 0 0 c1

s0 10 0 0 The system is unstable, and two roots

lie in the right half of the s-plane. 29
 More Example
Consider the characteristic polynomial:
q( s ) = s 4 + s 3 + s 2 + s + K ,

To determine the K value that results in the stability.

Routh s4 1 1 K
array:
s3 1 1 0
s2 K 0 K K
1
c1 0 0 c1 = .
s
s0 K 0 0

System is unstable for all values of gain K.

30
Case 3. A zero-entry appears in the first column,
and all other entries in that row are also zero
-Solution: Return to the previous row and form the Auxiliary Polynomial, qa(s),
which will be a divisor of the original q(s), divide out qa(s), and proceed.
The auxiliary polynomial is the polynomial immediately precedes the zero
entry in Routh array. The order of the auxiliary polynomial is always even
and indicates the number of symmetrical roots pair. ?

Example: q( s ) = s 3 + 2 s 2 + 4 s + K ,

s3 1 4 s3 1 4
s2 2 K s2 2 K qa (s )
8 K k =8 1
qa ( s ) = 2 s 2 + Ks 0 = 2 s 2 + 8
1
s 0 s 0 0
0
2
s K 0 s0 K 0 = 2( s 2 + 4) = 2( s + j 2)( s j 2).
0 < K < 8. 31
 Case 3. A zero-entry appears in the first column,
and all other entries in that row are also zero
-Solution: Return to the previous row and form the Auxiliary Polynomial, qa(s),
which will be a divisor of the original q(s), divide out qa(s), and proceed.
Example: q( s ) = s 3 + 2 s 2 + 4 s + K , q( s ) = qa ( s )(?)
1 / 2s + 1
s 3 1 4 s3 1 4
(?) = q( s ) / qa ( s ) 2 s 2 + 8 s 33 + 2 s 2 + 4 s + 8
s2 2 K
k =8
s2 2 K qa (s )
s + 4s
8 K
s1 0 0
+8
1
s 0 2s2
2 s0 K 0
s 0
K 0 2s 2 +8
=0
When K=8 qa ( s) = 2s 2 + Ks 0 = 2s 2 + 8 = 2( s 2 + 4) = 2( s + j 2)(s j 2).
q (s ) = qa (s )(?) = qa (s )(1/ 2 s + 1) = (s + 2)(s + j 2)(s j 2) (when K = 8)

Marginal stable 32
Example Fifth-order system with roots on the j-axis
q ( s ) = s 5 + s 4 + 4 s 3 + 24s 2 + 3s + 63

s5 1 4 3
s4 1 24 63
s 3 20 60 0
s 2 21 63 0
s1 0 0 0 Case 3
The auxiliary polynomial:

qa (s )= 21s 2 + 63= 21(s 2 + 3)= 21(s + j 3)(s j 3)

33
Example Fifth-order system with roots on the j-axis
qa (s )= 21s 2 + 63= 21(s 2 + 3)
q( s ) = s + s + 4 s + 24 s + 3s + 63
5 4 3 2

q( s)
= s 3
+ s 2
+ s + 21
s +3
2

s3 1 1
s2 1 21
s1 20 0
s0 21 0
The system is unstable. The roots in the right-hand plane are
s = +1 j 6 34
Case 4. Repeated roots of the characteristic equation on
the j-axis
Ifthe j-axis roots of the characteristic equation are simple (first order),
the system is neither stable nor unstable; it is instead called marginal
stable, since it has an un-damped sinusoidal mode.
- If the j-axis roots are repeated, the system response will be
unstable, with a form t[sin(t+)] in time domain.
- The Routh-Hurwitz criterion will not reveal this form of
instability.
q( s ) = ( s + 1)( s + j )( s j )( s + j )( s j ) = s 5 + s 4 + 2 s 3 + 2 s 2 + s + 1.
s5 1 2 1
s 4
+ 2 s 2
+ 1 = ( s 2
+ 1) 2
Note that the absence of sign changes,
s4 1 21
3 0 as 0 a condition that falsely indicates that
s
the system is marginally stable.
s 2 11
( s + 1)
2

s 1 0 The real response of the system is increase with

s0 1 time as t[sin(t+)] due to the repeated roots. 35
 General Form
The general form of the characteristic equation of an nth-order system is
s n + an 1s n 1 + an 2 s n 2 + + a1s + nn = 0

The normalized form of the characteristic equation is

( s / n )n + an 1 / n ( s / n )n-1 + an 2 / n2 ( s / n )n- 2 + + a1 / nn 1 ( s / n ) + 1 = 0

36
The Relative Stability of Feedback Control Systems
The verification of stability using the Routh-Hurwitz
criterion provides only a partial answer to the question
of stability----whether the system is absolutely stable.
In practice, it is desired to determine the relative stability.
- The relative stability of a system can be defined
as the property that is measured by the relative
real part of each root or pair of roots.

37
The Relative Stability of Feedback Control Systems
Because the relative stability of a system is dictated by location
of the roots of the characteristic equation, we can extend the
?
Routh-Hurwitz criterion to ascertain relative stability.
This can be accomplished by utilizing a change of variable, which shifts
the s-plane vertical axis in order to utilize the Routh-Hurwitz criterion.
The correct magnitude of shift the vertical axis must be obtained on a
trial-and-error basis.
One may determine the real part of the dominant root without solving
the high order polynomial q(s).

j
j

38
 Example: Axis Shift
Consider the simple third -order characteristic equation
q( s ) = s 3 + 4 s 2 + 6s + 4. (a1a2 > a0 a3 ) 4 6 1 4 > 0 stable
?
First try: let sn = s + 2 There is no zero in the first column of (shifting
Routh array, but with two unstable roots. too much)
Second try: sn = s + 1 We have
(sn 1)3 + 4(sn 1) 2 + 6(sn 1) + 4 = sn3 + sn2 + sn + 1.
3 1 1
sn
sn2 1 1 ( sn ) = sn2 + 1 = ( sn + j )( sn j ) = ( s + 1 + j )( s + 1 j )
s1
n
0 0
0 1 0
sn
The shifting of the s-plane axis to ascertain the relative stability of a
system is a very useful approach, particularly for higher-order
system with several pairs of closed-loop complex conjugate roots. 39
 Tracked Vehicle Turning Control
Goal: find K and a such that system is stable and ess to ramp
command to be less than 24%.

Gc ( s )G ( s ) K (s + a)
T ( s) =
1 + Gc ( s )G ( s ) 1 + Gc ( s )G ( s ) = 0 1 + =0
s( s + 1)( s + 2)( s + 5)
ess = 1 / K v = 1 / lim sGcG = 1 / ( Ka / 10) = 10 / Ka
s 0

10 / Ka 0.24 Ka 10 / 0.24
= 41.667 42
40
 Tracked Vehicle Turning Control
K (s + a)
1+ =0
s( s + 1)( s + 2)( s + 5)

s 4 + 8s 3 + 17 s 2 + ( K + 10) s + Ka = 0
s4 1 17 Ka 1 17
s3 8 ( K + 10) 0 8 K + 10 126 K
b3 = =
s2 b3 Ka 8 8
8 K + 10
s1 c3
b3 Ka b3 ( K + 10) 8 Ka
s0 Ka c3 = =
b3 b3

Stability: b3>0, c3>0, Ka>0

41
Routh-Hurwitz Criterion

The number of roots in the right half plane equals

the number of sing changes in the first column. 42
 Tracked Vehicle Turning Control
Stability: b3>0, c3>0, Ka>0 K < 126
Ka > 0
(K + 10)(126 K) 64Ka > 0
( K + 10)(126 K )
a<
64 K
Static error to ramp input:
1 1
ess = =
, K v = lim sGcG ( Ka / 10)
Kv s 0
1 10
ess = = 0.24
( Ka/10) Ka

10 / Ka 0.24 Ka 10 / 0.24 =
41.7
Ka = 42 if K = 70 a = 0.6 43
 Example Stability Region for Unstable Plant
A jump-jet aircraft has a control system as shown in

Goal: Assuming that z>0 and p>0,find a suitable set of K, z,

and p to stabilize the system .
The system is open-loop unstable (without feedback control) since
the characteristic equation of the plant and controller is
s( s-1)( s + p ) = s[ s + ( p 1) s p ] = 0
2

Note that since one term within the bracket has a negative
coefficient, the characteristic equation has at least one root
in the right-hand side of the s-plane. 44
Example Stability Region for Unstable Plant

45
Example Stability Region for Unstable Plant

46
Example Stability Region for Unstable Plant

47
Example Stability Region for Unstable Plant

48
Example Stability Region for Unstable Plant
 Example Stability Region for Unstable Plant
Gc G K (s + z) 1
=T = , Gc = ,G
1 + Gc G s+ p s ( s 1)

The characteristic equation of the closed-loop is

1 + Gc G =
0 s 3 + ( p 1) s 2 + ( K p ) s + Kz = 0
The goal is to determine the region of stability for K,p,and z.
The Routh array is
s3 1 ( K p)
s 2 ( p 1) Kz
b2 =
( p 1)( K p ) Kz
.
s1 b2 0 ( p 1)
s 0 Kz 0

To be stable: ( p 1) > 0, b2 > 0, and Kz>0. 50

 Example Stability Region for Unstable Plant
We require that ( p 1) > 0, b2 > 0, and Kz>0.

b2
( p 1)( K p) Kz
>0
( p 1)( K p) Kz > 0 since (p 1)>0.
( p 1)
( p 1)( K p) Kz > 0 K [( p 1) z ] p( p 1) > 0
p( p 1)
K < if z > ( p 1)
( p 1) z

K [( p 1) z ] p ( p 1) > 0 p( p 1) > 0 if z = p 1

< 0 ? K > p( p 1) if z < ( p 1)
( p 1) z
( p 1) z = = 0 ?
> 0 ?
Consider two cases:

1. z ( p 1) : K < 0 There is no 0 < K < that leads to stability

p ( p 1)
2. z < ( p 1) : K> with p > 1 and z<(p-1) will result in stability.
( p 1) z 51
Example Stability Region for Unstable Plant
The three-dimensional plot of the stability region for K,
p, and z is shown in the following figure.

z ( p 1) Unstable region

One acceptable point is z=1, p=10, and K=15

52
Sequential Design Example: Disk Drive Read System
Before:

Now:

53
Sequential Design Example: Disk Drive Read System
5K a
Y ( s) = R( s ) ,
s + 20 s + 5K a
2

Kv

The best compromise (Ka=40) still does not meet all the specifications. (Ts=400ms)
What to do?
54
Sequential Design Example: Disk Drive Read System
Without velocity feedback:
Y ( s) K a G1 ( s )G2 ( s ) G ( s ) = 5000
=
s + 1000
1
R ( s ) 1 + K a G1 ( s )G2 ( s )

The characteristic equation is

s( s + 20)( s + 1000) + 5000 K a = 0
or
s 3 + 1020s 2 + 20000s + 5000 K a = 0
Condition for stability is a1a2 a0a3 > 0

1020 20000 5000 K a > 0 K a < 4080

55
 Sequential Design Example: Disk Drive Read System
With velocity feedback:
Y ( s) K a G1 ( s )G2 ( s )
=
R ( s ) 1 + [ K a G1 ( s )G2 ( s )](1 + K1s )

5000 1
The characteristic equation is 1 + Ka (1 + K1s ) = 0
( s + 1000) s( s + 20)
s( s + 20)( s + 1000) + 5000 K a (1 + K1s ) = 0 or
s 3 + 1020s 2 + [20000 + 5000 K a K1 ]s + 5000 K a = 0
Condition for stability is ( a3s 3 + a2 s 2 + a1s + a0 = 0) 3rd Order system
a1a2 a0 a3 > 0 1020 [20000 + 5000 K a K1 ] 5000 K a > 0

or 1020 [4 + K a K1 ] K a > 0 (1020 K1 1) K a + 4080 > 0

56
The stable region is a 2D curve.
 Sequential Design Example: Disk Drive Read System
(1020 K1 1) K a + 4800 > 0 K1=0.05 and Ka=100
(1020x0.05-1)100+4080=50x100+4080>0
0.98

Response with K1=0.05

and Ka=100

Settling time 260ms 57

 Sequential Design Example: Disk Drive Read System
The system performances is summarized in the following.

The performance specifications are nearly satisfied, and some iteration

of K1 is necessary to obtain the desired 250 ms setting time.

58
Additional Example 1: Stability versus Parameter Range
Consider a feedback system such as:

The stability properties of this system are a function of the

proportional feedback gain K. Determine the range of K
over which the system is stable.

59
Additional Example 1 (contd)

s +1
1+ K =0
s ( s 1)( s + 6)

60
 Additional Example 1 (contd)
s +1
1+ K =0
s ( s 1)( s + 6)

s ( s 1)( s + 6) + K ( s + 1)
=0
s ( s 1)( s + 6)
Expressing the characteristic equation
in polynomial form, we obtain:

s + 5 s + ( K 6) s + K = 0
3 2

61
 Additional Example 1 (contd)
q(s) = s + 5s + (K 6)s + K
3 2

The corresponding Routh Therefore, the system is stable

array is: if and only if
4K 30
s3 : 1 K 6 > 0 and K > 0
5
s2 : 5 K K > 7.5 and K > 0
s : (4 K 30) 5
1

s0 : K K > 7.5

62
 Additional Example 1 (contd)

q ( s ) = s + 5s + ( K 6) s + K
3 2

Solving for the roots gives:

-5 and 1.22j for K=7.
=> The system is marginally stable for K=7.
-4.06 and 0.47 1.7j for K=13
-1.90 and 1.54 3.27j for K=25

=> The system is stable for both K=13 and K=25

63
64
64
Additional Example 2: Stability versus Two
Parameter Range

Consider a Proportional-Integral (PI) control such as:

Find the range of the controller gains ( K , K1 ) so that the

PI feedback system is stable.

65
 Additional Example 2 (contd)

The characteristic equation for the system is given by:

K1 1
1+ K + =0
s ( s + 1)( s + 2)

66
 Additional Example 2 (contd)
K1 1
1+ K + =0
s ( s + 1)( s + 2)

Expressing the characteristic equation in

polynomial form, we obtain:

s 3 + 3s 2 + ( 2 + K ) s + K1 = 0

67
 Additional Example 2 (contd)
q( s ) = s + 3s + ( 2 + K ) s + K1 = 0
3 2

The corresponding Routh For stability, we must have:

array is:

s3 : 1 2+K
s2 : K1
3 K1 K1 > 0 and K > 2
s1 : (6 + 3K K1 ) 3 3
s0 : K1

68
Additional Example 2: Allowable region
for Stability

K
K = 1 2
3

K1
K1 > 0 and K > 2
3

69
Additional Example 2: Transient Response for the
System

70
Summary
Routh Hurwitz stability criterion allows to check for
stability without computing roots of characteristic
equation

Can be used to determine the range of parameters

that guarantees stability

71