Cairo University Faculty of Engineering

Mechanical Design and Production Department

MDP 3430
System Dynamics

1
System Response
• The system response is obtained by using the inverse Laplace. The transfer
function numerator and denominator are factorized.

𝐶 𝑠 𝑏0 𝑠 𝑚 + 𝑏1 𝑠 𝑚−1 + ⋯ + 𝑏𝑚−1 𝑠 + 𝑏𝑚 𝐾 𝑠 + 𝑧1 𝑠 + 𝑧2 … 𝑠 + 𝑧𝑚
= =
𝑅 𝑠 𝑠 𝑛 + 𝑎1 𝑠 𝑛−1 + ⋯ + 𝑎𝑛−1 𝑠 + 𝑎𝑛 𝑠 + 𝑝1 𝑠 + 𝑝2 … 𝑠 + 𝑝𝑛

𝐾 ς𝑚𝑗=1 𝑠 + 𝑧𝑚
𝐶 𝑠 = 𝑅 𝑠 𝑚<𝑛
ς𝑛𝑖=1 𝑠 + 𝑝𝑛

• Poles of a transfer function (×): The poles of a transfer function are the roots of the
denominator of the transfer function. Values which make the denominator zero.

• Zeros of a transfer function (○): The zeros of a transfer function are the roots of
the numerator of the transfer function. Values which make the numerator zero.
2
System Response
• By factorizing the response s function
𝐴1 𝐴2 𝐴3
𝐶 𝑠 = + + ⋯+
𝑠 + 𝑝1 𝑠 + 𝑝2 (𝑠 + 𝑝𝑛 )

𝑐 𝑡 = ʆ−1 𝐶 𝑠 = 𝐴1 𝑒 −𝑝1𝑡 + 𝐴2 𝑒 −𝑝2𝑡 + ⋯ + 𝐴𝑛 𝑒 −𝑝𝑛 𝑡

𝑛
𝑐 𝑡 =෍ 𝐴𝑖 𝑒 −𝑝𝑖 𝑡
𝑖=1

• The system poles (roots of the denominator) could be real or complex conjugates.

3
System Response
• Example: Find the step response for the transfer function
𝐶(𝑠) 𝑠+2
=
𝑅(𝑠) 𝑠+5
• Solution:
1 𝑠+2 𝐴 𝐵
𝐶 𝑠 = = +
𝑠 𝑠+5 𝑠 𝑠+5
𝑠+2 2 𝑠+2 3
𝐴= ቤ = 𝐵= ቤ =
𝑠 + 5 𝑠→0 5 𝑠 𝑠→−5
5
1 𝑠+2 2Τ5 3Τ5
𝐶 𝑠 = = +
𝑠 𝑠+5 𝑠 𝑠+5
2 3 −5𝑡
𝑐(𝑡) = + 𝑒
5 5
4
Stability Analysis

5
Stability Analysis
• A system is stable if every bounded input yields a bounded output.
• A system is unstable if any bounded input yields an unbounded output.

• The total response of a system is the sum of the forced (steady state) and natural
(transient) responses,
𝑐 𝑡 = 𝑐𝑛𝑎𝑡𝑢𝑟𝑎𝑙 𝑡 + 𝑐𝑓𝑜𝑟𝑐𝑒𝑑 (𝑡)
• Using the natural (transient) response:
1. A system is stable if the transient response approaches zero as time approaches
infinity.
2. A system is unstable if the transient response approaches infinity as time
approaches infinity.
3. A system is marginally stable if the transient response neither decays nor grows
but remains constant or oscillates.
6
Pendulum stability
• 𝛴𝑀𝑜 = 𝐽𝜃ሷ
• −𝑚𝑔𝑙 sin 𝜃 = 𝐽𝜃ሷ
• 𝐽𝜃ሷ + 𝑚𝑔𝑙 sin 𝜃 = 0
• To find the static equilibrium positions,
put in the equation 𝜃ሶ = 0, 𝜃ሷ = 0
𝑚𝑔𝑙 sin 𝜃 = 0
sin 𝜃 = 0
𝜃 = 0, 𝜋

7
Pendulum stability
•Linearize about static position 1, 𝜃𝑜 = 0
𝐽𝜃ሷ + 𝑚𝑔𝑙𝜃 = 0
•Laplace
(𝐽𝑠 2 + 𝑚𝑔𝑙)𝜃 = 0
•Roots
−𝑚𝑔𝑙 𝑚𝑔𝑙
𝑠1,2 = ± =± 𝑖
𝐽 𝐽
•𝜃 𝑡 = 𝜃1 𝑒 𝑠1 𝑡 + 𝜃2 𝑒 𝑠2 𝑡
•For bounded input ==> bounded output.
•The mass oscillates about the equilibrium position.
•Stable equilibrium position.

8
Pendulum stability
• Linearize about static position 2, 𝜃𝑜 = 𝜋
𝐽𝜃ሷ − 𝑚𝑔𝑙𝜃 = 0
• Laplace
(𝐽𝑠 2 − 𝑚𝑔𝑙)𝜃 = 0
• Roots
𝑚𝑔𝑙
𝑠1,2 = ±
𝐽
• 𝜃 𝑡 = 𝜃1 𝑒 𝑠1 𝑡 +
𝜃2 𝑒 𝑠2 𝑡
• For bounded input ==> unbounded output.
• The mass leaves the equilibrium position.
• Unstable equilibrium position.

9
Transfer function nomenclature
• 𝐺: feedforward transfer function

• 𝐻: feedback transfer function

• 𝐺𝐻: open loop transfer function

• 1 + 𝐺𝐻: characteristic equation

𝐺
• 𝑀= : closed loop transfer function
1+𝐺𝐻

10
Example 1:
•Stable system
𝐺 3
•𝑀 𝑠 = =
1+𝐺𝐻 𝑠 3 +3𝑠 2 +2𝑠+3

3
•𝑀 𝑠 =
(𝑠+2.672)(𝑠+0.164+𝑗1.047)(𝑠+0.164−𝑗1.047)

11
Example 1:
•Unstable system
𝐺 7
•𝑀 𝑠 = =
1+𝐺𝐻 𝑠 3 +3𝑠 2 +2𝑠+7

3
•𝑀 𝑠 =
(𝑠+3.087)(𝑠−0.0434+𝑗1.505)(𝑠−0.0434−𝑗1.505)

12
Stability Analysis
• The system stability depends on the roots
of the characteristics equation, poles of the
system transfer function.

• The system stability is a system

characteristic and independent on the input.

• For stable system all the poles must be in

the left-hand side of the S-Plane.

• All poles must have negative real part.

• The poles of a system are the roots of the

characteristic equation 1 + 𝐺𝐻 = 0
13
Routh-Hurwitz Criterion
•Using this method, the number of poles of the closed-loop system in the left half-
plane, in the right half-plane, and on the imaginary-axis are determined. Without
determining their coordinates.

•The power of this method is in determining the design where a limit stability of
certain factor can be determined.

•A necessary (but not sufficient) condition for stability is that all the coefficients of
the characteristic polynomial be positive.

•A system is stable if and only if all the elements in the first column of the Routh
array are positive.

14
Routh Array
• For the characteristic polynomial
𝑎 𝑠 = 𝑎𝑛 𝑠 𝑛 + 𝑎𝑛−1 𝑠 𝑛−1 + 𝑎𝑛−2 𝑠 𝑛−2 + ⋯ + 𝑎1 𝑠 + 𝑎0

• First arrange the coefficients of the characteristic polynomial in two rows.

𝑠𝑛 𝑎𝑛 𝑎𝑛−2 𝑎𝑛−4 … 𝑎0
𝑠 𝑛−1 𝑎𝑛−1 𝑎𝑛−3 𝑎𝑛−5 …

• Add the subsequent rows to complete the Routh array

𝑠𝑛 𝑎𝑛 𝑎𝑛−2 𝑎𝑛−4 … 𝑎0
𝑠 𝑛−1 𝑎𝑛−1 𝑎𝑛−3 𝑎𝑛−5 …
𝑠 𝑛−2 𝑏1 𝑏2 𝑏3
𝑠 𝑛−3 𝑐1 𝑐2 𝑐3
⋮
𝑠1
𝑠0 15
Routh Array
• Add the subsequent rows to complete the Routh array
𝑠𝑛 𝑎𝑛 𝑎𝑛−2 𝑎𝑛−4 … 𝑎0
𝑠 𝑛−1 𝑎𝑛−1 𝑎𝑛−3 𝑎𝑛−5 …
𝑠 𝑛−2 𝑏1 𝑏2 𝑏3
𝑠 𝑛−3 𝑐1 𝑐2 𝑐3
⋮
𝑠1
𝑠0
𝑎𝑛−1 𝑎𝑛−2 −𝑎𝑛 𝑎𝑛−3 𝑎𝑛−1 𝑎𝑛−4 −𝑎𝑛 𝑎𝑛−5
• 𝑏1 = 𝑏2 =
𝑎𝑛−1 𝑎𝑛−1

𝑏1 𝑎𝑛−3 −𝑏2 𝑎𝑛−1

• 𝑐1 =
𝑏1
• To compute each element, fix the 2 previous rows, the first column and the
column after the element.
• For stability, all the elements of the first column must have the same sign.
• Each sign change indicates a pole in the right-hand side, which means instability. 16
Routh Array
•Example:
•Make the Routh test for the system shown.
𝐺 1000
•𝑀 𝑠 = = 3 2
1+𝐺𝐻 𝑠 +10𝑠 +31𝑠+1030

•Routh array
𝑠3 1 31
𝑠2 10 1030
10 × 31 − 1 × 1030
𝑠1 = −72 0
10
−72 × 1030 − 10 × 0
𝑠0 = 1030
−72
•2 sign changes ==> 2 roots (poles) are unstable in the S-Plane right hand side.
17
Routh Special Cases
1.If the value in the 1st column only equals zero, replace 0 by ε. Then take the
lim+ .
ε→0
Or let 𝑠 = 1Τ𝑥, and then multiply by 𝑥 𝑛 , and perform Routh.

2.When an entire row consists of zeros, there is conjugate poles on the

imaginary axes. Critical stability case. Use auxiliary equation.

18
Routh Special Cases
•Example:
•Make the Routh test for the system.
1
•𝑀 𝑠 = 5 4 3 2
2𝑠 +3𝑠 +2𝑠 +3𝑠 +2𝑠+1

•Routh array
𝑠5 2 2 2

𝑠4 3 3 1
3×2−2×3 3×2−2×1 4
𝑠3 = 0 ==> 𝜀 =
3 3 3
3𝜀 − 4 𝜀−3×0
𝑠2 = −𝑣𝑒 =1
𝜀 𝜀
12𝜀 − 16 − 3𝜀 2
𝑠1 = +𝑣𝑒
9𝜀 − 12
𝑠0 1

•2 sign changes ==> 2 roots (poles) are unstable in the S-Plane right hand side. 19
Routh Special Cases
• Example: (Cont.)
• Matlab
• >> r=roots([2 3 2 3 2 1])
r=
-1.3307 + 0.0000i
0.3284 + 0.8899i
0.3284 - 0.8899i
-0.4131 + 0.4969i
-0.4131 - 0.4969i

20
Routh Special Cases
• Example:
• Make the Routh test for the system.
10
• 𝑀 𝑠 = 5 4 3 2
𝑠 +7𝑠 +6𝑠 +42𝑠 +8𝑠+56
• Routh array
𝑠5 1 6 8
𝑠4 7 42 56
7 × 6 − 1 × 42 7 × 8 − 1 × 56
𝑠3 = 0 ==> 4 = 0 ==> 12
7 7
4 × 42 − 7 × 12 4 × 56 − 7 × 0
𝑠2 = 21 = 56
4 4
21 × 12 − 4 × 56
𝑠1 = 1.33
21
1.33 × 56 − 21 × 0
𝑠0 = 56
1.33
• Differentiate the Auxiliary equation to complete Routh test
𝑑
• (𝑠 4 + 6𝑠 2 + 8) = 4𝑠 3 + 12𝑠 21
𝑑𝑠
Routh Special Cases
• Example: (Cont.)
•No sign change in the first column. No roots in the right-hand side of the S-plane.
•An entire row is zero. Critical stable system.

•Use the Auxiliary equation to find the roots on the imaginary axes.
7𝑠 4 + 42𝑠 2 + 56 = 0
𝑠 4 + 6𝑠 2 + 8 = 0
(𝑠 2 + 4)(𝑠 2 + 2) = 0
𝑠 2 = −4 𝑠 2 = −2
𝑠 = ±𝑗2 𝑟𝑎𝑑/𝑠 𝑠 = ±𝑗1.414 𝑟𝑎𝑑/𝑠

22
Routh Special Cases
• Example: (Cont.)
• Matlab
>> r=roots([1 7 6 42 8 56])
>> r =
-7.0000 + 0.0000i
0.0000 + 2.0000i
0.0000 - 2.0000i
0.0000 + 1.4142i
0.0000 - 1.4142i

23