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Unit 4 Stability Analysis

This document discusses stability analysis of control systems. It defines various types of stability including bounded input bounded output stability and asymptotic stability. The concepts of poles and zeros of a transfer function are introduced, and how they relate to system stability. The Routh stability criterion provides a systematic way to determine stability by analyzing the signs of elements in the Routh array. Poles in the left half of the s-plane indicate stability, while poles in the right half or on the imaginary axis represent unstable or marginally stable systems.

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102 views28 pages

Unit 4 Stability Analysis

This document discusses stability analysis of control systems. It defines various types of stability including bounded input bounded output stability and asymptotic stability. The concepts of poles and zeros of a transfer function are introduced, and how they relate to system stability. The Routh stability criterion provides a systematic way to determine stability by analyzing the signs of elements in the Routh array. Poles in the left half of the s-plane indicate stability, while poles in the right half or on the imaginary axis represent unstable or marginally stable systems.

Uploaded by

rocklineto
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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UNIT 4

STABILITY ANALYSIS
TOPICS
 Concepts of stability
 Necessary conditions for stability
 Routh Stability Criterion
 Relative stability analysis
 More on Routh Stability Criterion
The Concept of Stability
The concept of stability
can be illustrated by a
cone placed on a plane
horizontal surface.

A necessary and
sufficient condition
for a feedback system
to be stable is that
all the poles of the
system transfer
function have
negative real parts.

A system is considered marginally stable if only certain


bounded inputs will result in a bounded output.
STABLE SYSTEM
 Response or output is predictable.
 A system is said to be stable if for a
bounded disturbing input signal, the output
vanishes ultimately as t infinity.
 A system is unstable if for a bounded
disturbing input signal the output is of
infinite amplitude or oscillatory.
i) For a bounded i/p, it produces unbounded
o/p.
ii) In the absence of i/p, o/p may not return to
zero. It shows certain o/p without i/p.
STABLE SYSTEM
UNSTABLE SYSTEM
UNCONTROLLABLE RESPONSE
DEFINITIONS OF STABILITY
 Bounded Input, Bounded Output
(BIBO) Stability:
A system is said to be BIBO Stable if
i) For Bounded i/p, we have Bounded
o/p; o/p – Controllable.
ii) In the absence of i/p, o/p must tend to
zero irrespective of initial conditions.
Relaxed system: A System in which
initial conditions are zero.
DEFINITIONS OF STABILITY
 Critically or Marginally Stable system:
for a bounded i/p, o/p oscillates with constant
frequency and amplitude. Such oscillations
are called Damped or sustained oscillations.

Conditionally Stable system:


o/p is bounded only for certain condition. If
this condition is violated, o/p is unbounded.
Stability depends on condition of parameter
of the system.
CRITICALLY OR MARGINALLY
STABLE SYSTEM
DEFINITIONS OF STABILITY
 Zero input stability:
If the zero input response of the system subjected
to finite initial conditions, reaches to zero as
tinfinity, then the system is zero input stable.

Asymptotic Stability:
As magnitude of zero input response reaches zero
as t approaches infinity, then zero input
stability is also called asymptotic stability.
If in the absence of i/p, the o/p tends to zero or to
the equilibrium state irrespective of initial
conditions.
DEFINITIONS OF STABILITY
 Absolutely Stable system:
If the system o/p is stable for all
variations of its parameters then the
system is called absolutely stable
system.
TRANSFER FUNCTION

 When order of the denominator polynomial is


greater than the numerator polynomial the
transfer function is said to be ‘proper’.

 Otherwise ‘improper’

13
STABILITY OF CONTROL SYSTEM

 Roots of denominator polynomial of a transfer function


are called ‘poles’.

 And the roots of numerator polynomials of a transfer


function are called ‘zeros’.

14
STABILITY OF CONTROL SYSTEM

 Poles of the system are represented by ‘x’ and zeros of


the system are represented by ‘o’.
 System order is always equal to number of poles of the
transfer function.
 Following transfer function represents nth order plant.

15
STABILITY OF CONTROL SYSTEM

 Poles
is also defined as “it is the frequency at
which system becomes infinite”. Hence the
name pole where field is infinite.

 And zero is the frequency at which system


becomes 0.

16
STABILITY OF CONTROL SYSTEM
 Poles is also defined as “it is the frequency at
which system becomes infinite”.
 Like a magnetic pole or black hole.

17
STABILITY OF CONTROL SYSTEMS

 The poles and zeros of the system are plotted


in s-plane to check the stability of the system.
j

LHP RHP

Recall s    j

s-plane

18
STABILITY OF CONTROL SYSTEMS
 If all the poles of the system lie in left half
plane the system is said to be Stable.
 If any of the poles lie in right half plane the
system is said to be unstable.
 If pole(s) lie on imaginary axis the system is
said to be marginally stable.
j

LHP RHP

If all the poles 

s-plane
19
STABILITY OF CONTROL SYSTEMS
 For example
C
G( s )  , if A  1, B  3 and C  10
As  B
 Then the only pole of the system lie at

pole  3
j

LHP RHP

X 
-3

s-plane
20
LOCATION OF ROOTS ON S PLANE
LOCATION OF ROOTS ON S PLANE
LOCATION OF ROOTS ON S PLANE
LOCATION OF ROOTS ON S PLANE
CONCLUSIONS BASED ON THE LOCATION OF
ROOTS OF CHARACTERISTIC EQUATION

 Roots-LHS – negative real parts – Response –


Bounded- BIBO Stable.
 Roots-RHS – Positive real parts –Response –
Unbounded- Unstable.
 Repeated roots on Imaginary axis –Response –
Unbounded- unstable.
 Single root at origin – Bounded –Unstable.

 Repeated roots at origin –Unbounded, unstable.

 Non repeated roots on imaginary axis or single


pole at origin- Limitedly or marginally stable
system.
OBSERVATIONS
 All the co efficients –Positive =>
roots –LHS
 If any co efficient is zero=> roots-
Imaginary axis or RHS
 If any co efficient is negative =>
atleast one root -RHS
NECESSARY CONDITIONS FOR STABILITY
 All the co efficients of a characteristic
polynomial be positive.
 If any co efficient is zero or negative, we can
immediately say that the system is unstable.

But not sufficient condition


s3+ s2+2s+8 = (s+2) (s- 0.5 – 1.93j) (s-
0.5+1.93j)
Co efficients –positive but roots –RHS
So s/m – Unstable.
ROUTH HURWITZ CRITERION
 Sufficient conditions for stability.
 Hurwitz – investigated stability interms of
determinants.
 Routh – in terms of array formulation.
 Routh Stability criterion:
The necessary and sufficient condition for
stability is that all the elements in the first
column of the routh array must be positive. If
this condition is not met, the system is
unstable and the no of sign changes in the
elements of the first column of the routh array
corresponds to the no of roots of characteristic
equation in RHS of s plane.

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