School of Electrical Engineering and Computing

Department of Electrical Power and Control Engineering

Introduction to Control System

Prepared by: Urgo H.

March 2023, Adama
1
 Chapter Three
Time Domain Response Analysis of Control System
Introduction

• A manner in which a dynamic system responds to an input, expressed as a function of time, is

called time response.
• The theoretical evaluation of this response is said to be undertaken in the time domain, and
is referred to as time domain analysis
• It is possible to compute the time response of a system if the following is known
 The nature of the input.
 The mathematical model of the system
• The first step in analyzing a control system is
 Driving mathematical model of a system
 Analysis of system’s performance
Cont.…
• There are several methods used for analysis of systems' performance.
• In analyzing & designing of control system there must be some basic comparison of
performance of various control systems.
• This basis of comparison can be set by specifying particular test input signals and by
comparing the response of various systems to these input signals.
Many design criteria are based on
 Response of the system to test input signals or
 Systems response to changes in initial conditions
Cont.…
• There are several methods used for analysis of systems' performance.
• In analyzing & designing of control system there must be some basic comparison of
performance of various control systems.
• This basis of comparison can be set by specifying particular test input signals and by
comparing the response of various systems to these input signals.
Many design criteria are based on
 Response of the system to test input signals or
 Systems response to changes in initial conditions
Standard Test Signals

• Usually the input signal to the control systems are not known fully a head of time.
• Therefore, system dynamics behavior for analysis and design is judged and compared under
application of standard test signals.
• Commonly used test input signals are:
 Step signal
 Ramp signal
 Impulse signal
 Parabola signal
Cont.…

• With this test signals mathematical & experimental analysis of control systems can be carried out
easily since the signals very simple functions of time.
• The kind of input the system will be subjected most frequently under normal operation determines
which test input signal to use to analyze the systems performance characteristics
• Step function: This test signal is used if the control system is most frequently subjected to a sudden
disturbance.
• Ramp function: This test input signal is used ,if the control system is frequently subjected to a
gradually changing input type .
• Impulse function: this test input signal is used if the control system is subjected to shock inputs.
Test signals
Relations between test signals
 Time response of control system
Control systems are inherently dynamic, their performance is usually specified in terms of both transient
response and steady state response.
1. Transient response: Part of the time response which goes from the initial state to the final state and
reduces to zero as time becomes very large. It is a function of the system dynamics and it is
independent of the input quantity.
2. Steady state response: The behavior of the system as approaches to infinity after the transients
have died out and it is a function of both the system dynamics and the input quantity.
Cont.…

• Since physical control systems involves energy storage ,the output of the system when subjected
to an input cannot follow the input immediately but exhibits a transient response before a
steady state cab be reached.
• The transient response of a practical control system often exhibits damped oscillation before
reaching steady state.
• If the output of the system at the steady state doesn’t exactly agree with input ,the system is said
to have steady state error.
• This error is indicative of the system accuracy
 Steady State Error
• Steady-state error(𝒆𝒔𝒔 ): is the difference between the input and the output for a prescribed test input
as time tends to infinity.
• Steady-state error in control system are almost unavoidable. In a design one of the objectives is to
keep 𝒆𝒔𝒔 to minimum or below a certain tolerable values.
• Steady state error determined by the concept of final value theorem.

Final value theorem : lim e(t )  lim sE ( s )

t  s 0

• Steady state error for unit-feedback gain

 Cont.…

R(s) is the input, C(s) is the output, and

E(s) = R(s)-C(s) is the error

.
The combination of .
the first two
equation give
Apply final value
. theorem to calculate the
steady state error

.
 Cont.…

Example

Output 1 has zero steady-state error, and output 2 has a finite steady-state error, 𝑒2 (∞).
 Cont.…
• Step Input : R(s) = 1/s,
• Ramp Input : R(s) = 𝟏/𝒔𝟐 , we obtain

The term is the dc gain of the forward

transfer function
• Discussion : In order to have zero steady-state error,
• Discussion : In order to have zero steady-state
error, must tend to infinity.

• The transfer function G(s) must contain at least

• The transfer function G(s) must contain at least 2 pure
1 pure integrator.
integrators.
 Cont.…

• Parabolic Input: R(s) = 𝟏/𝒔𝟑, we obtain

• Discussion : In order to have zero steady-state error,

• The transfer function G(s) must contain at least 3 pure integrators.

 Static error Constants and system Type

• These steady-state error performance specifications are called static error constants.

For a ramp input, t𝑢(𝑡),

For a step input, 𝑢(𝑡), 1

For a ramp input, 𝑡 2 𝑢(𝑡),
2

position constant, Kp, velocity constant, Kv, acceleration constant, Ka

static error constants

 Cont.…

Example : 1
Evaluate the static error constants and find the expected error for the standard step, ramp, and parabolic
inputs.
System Type

• Both dynamic and steady state errors depend on the form of G(s)
• The numbers of the poles at the origin determines the type of the system

• Therefore, a system with 𝒏 = 𝟎 is a Type 0 system. If 𝒏 = 𝟏 𝒐𝒓 𝒏 = 𝟐, the corresponding

system is a Type 1 or Type 2 system, respectively.
System Type
 Time Response of First Order System
• Order of a system: The order of the system is the number of independent energy storage elements in
the system, & intuitively the highest degree of the linear differential equation that describes the
system.
• In a transfer function representation, the order is the highest exponent in the transfer function.
• In a state-space equation, the system order is the number of state-variables used in the system.
• Many systems are approximately first-order: that means most systems had only one energy storage
element.
• First order systems can be modeled by first order differential systems.
Cont.…

• In the case of the mechanical systems, energy is stored in a spring or an inertia(mass).

• Electrical systems, energy can be stored either in a capacitance or an inductance.
• A general form of a first-order system can be represented by the block diagram.
Cont.…
Steps of time response analysis
1. Compute the responses/outputs of first order systems to inputs such as
 unit- step
 unit-ramp, and
 unit-impulse functions assuming zero initial conditions
2. Draw the response /output curves of first order systems, assuming zero initial
conditions
 Cont.…
Example 2
1. Analyze the system response for the following inputs
 Unit step
 Unit ramp
 Unit impulse
Cont.…
• T is the time constant of the system, it is the measure of how quickly the system responds. In this
particular case, T is time it takes for the step response to rise to 63.2% of its finalvalue.
• The rise time, Tr, is defined as the time for the waveform to go from 10% to 90% of its final
value.
• The response of the remains within 2% of the final value; this time is known as the settling time,
Ts.
• The steady-state error is the error after the transient response has decayed leaving only the
continues response
• The larger the time constant T is, the slower the system response is.
Response of Second Order Systems
• Response of a typical second order control system to a step, ramp and impulse response.
• The dynamic behavior of second order system can be described in terms of two parameters
damping ratio (𝜀) and natural frequency (𝜔)of a system.
Natural Frequency, ωn
 The natural frequency of a second-order system is the frequency of oscillation of the
system without damping.
Damping Ratio,𝜺
 It is the ratio of exponential decay frequency of the envelope to the natural
frequency. This ratio is constant regardless of the time scale response
 Cont.…

• A general second-order system is characterized • The open-loop transfer function of the system is
by the following transfer function and feedback 𝐶(𝑠) 𝜔𝑛 2
block diagram representation. 𝐺 𝑠 = =
𝑅(𝑠) 𝑠(𝑠 + 2𝜉𝜔𝑛 )
Where
𝜔𝑛 =undamped natural frequency
𝜉=damping ratio

• The closed-loop transfer function of the system

with H(s) = 1 is
𝐶(𝑠) 𝜔𝑛 2
• Then the over all transfer function become = 2
𝑅 𝑠 𝑠 + 2𝜉𝜔𝑛 𝑠 + 𝜔𝑛 2
 Cont.…
• The characteristic equation of the closed-loop system is obtained by setting the denominator zero.
Δ 𝑠 = 𝑠 2 + 2𝜉𝜔𝑛 𝑠 + 𝜔𝑛 2 = 0
• The roots of the characteristic equation are given by
𝑠1,2 = −𝜉𝜔𝑛 ± 𝜔𝑛 𝜉 2 − 1
• The dynamic behaviour of the second-order system can, therefore, be described in terms of two
parameters of the roots of the characteristic equation, 𝜁 and 𝜔𝑛 , respectively.
• From the point of view of transient response, four distinct cases are of interest to us when 𝜔𝑛 is held
constant and the damping ratio 𝜉 takes on different values.
Cont.…

Underdamped Critically damped

case : 0 < 𝜉 < 1 case : 𝜉=1

Overdamped
Undamped case
case
𝜉=0
𝜉>1
Cont.…
 Cont.…

Underdamped case: 𝟎 < 𝝃 < 𝟏 Step input response for under-damped case
𝑠 2 + 2𝜉𝜔𝑛 𝑠 + 𝜔𝑛 2 = 0 In this case, Y(s)/R(s) can be written as
𝑎 = 1, 𝑏 = 2𝜉𝜔𝑛 , 𝑐 = 𝜔𝑛 2 𝑌(𝑠) 𝜔𝑛 2
=
Δ = 𝑏 2 − 4𝑎𝑐 = 4𝜔𝑛 2 (𝜉 2 − 1) 𝑅(𝑠) (𝑠+𝜉𝜔𝑛 +𝑗𝜔𝑑 )(𝑠+𝜉𝜔𝑛 −𝑗𝜔𝑑 )

If 0 < 𝜉 < 1, then 𝜉 2 − 1 < 0 →two complex

conjugate roots Or
𝜔𝑛 2 1 𝑠+2𝜉𝜔𝑛
𝑠1,2 = −𝜉𝜔𝑛 ± 𝑗𝜔𝑛 1 − 𝜉 2 𝑌 𝑠 = = −
𝑠 𝑠+𝜉𝜔𝑛 +𝑗𝜔𝑑 𝑠+𝜉𝜔𝑛 −𝑗𝜔𝑑 𝑠 𝑠 2 +2𝜉𝜔 𝑛 𝑠+𝜔𝑛
2

𝑠1,2 = −𝜉𝜔𝑛 ± 𝑗𝜔𝑑 1 𝑠+𝜉𝜔𝑛 𝜉𝜔𝑛

𝑌 𝑠 = − −
𝑠 𝑠+2𝜉𝜔𝑛 2 +𝜔𝑑 2 𝑠+2𝜉𝜔𝑛 2 +𝜔𝑑 2
1 𝑠+𝜉𝜔𝑛 𝜉 𝜔𝑑
which are complex conjugates and lie on the 𝑌 𝑠 = − −
𝑠 𝑠+2𝜉𝜔𝑛 2 +𝜔𝑑 2 1−𝜉 2 𝑠+2𝜉𝜔𝑛 2 +𝜔𝑑 2
semicircle in the left-half s-plane
 Cont.…

The inverse Laplace

1 𝑠+𝜉𝜔𝑛 𝜉 𝜔𝑑
𝐶 𝑠 =𝑠− 𝑠+𝜉𝜔𝑛 2 +𝜔𝑑 2
− 𝑠+𝜉𝜔𝑛 2 +𝜔𝑑 2
1−𝜉 2

𝑠 + 𝜉𝜔𝑛
L−1 = 𝑒 −𝜉𝜔𝑛 𝑡 cos(𝜔𝑑 𝑡)
𝑠 + 𝜉𝜔𝑛 2 + 𝜔𝑑 2
−1 𝜔𝑑
L = 𝑒 −𝜉𝜔𝑛 𝑡 sin(𝜔𝑑 𝑡)
𝑠 + 𝜉𝜔𝑛 2 + 𝜔𝑑 2
𝜉
L−1 𝐶(𝑠) = 1 − 𝑒 −𝜉𝜔𝑛 𝑡 cos 𝜔𝑑 𝑡 − 𝑒 −𝜉𝜔𝑛 𝑡 sin(𝜔𝑑 𝑡)
1 − 𝜉2
𝜉
𝑐(𝑡) = 1 − 𝑒 −𝜉𝜔𝑛𝑡 cos 𝜔𝑑 𝑡 + sin(𝜔𝑑 𝑡)
1 − 𝜉2
Or
𝑒 −𝜉𝜔𝑛𝑡 −1
1 − 𝜉2
𝑐 𝑡 =1− sin 𝜔𝑑 𝑡 + 𝜃 , 𝜃 = 𝑡𝑎𝑛 = 𝑐𝑜𝑠 −1 (𝜉)
1 − 𝜉2 𝜉
 Cont.…
For a unit step input for critically damped case
Critically damped case: 𝝃 = 𝟏 In this case, Y(s)/R(s) can be written as
𝑠 2 + 2𝜉𝜔𝑛 𝑠 + 𝜔𝑛 2 = 0 𝐶(𝑠) 𝜔𝑛 2
=
𝑎 = 1, 𝑏 = 2𝜉𝜔𝑛 , 𝑐 = 𝜔𝑛 2 𝑅(𝑠) (𝑠+𝜔𝑛 )2

Δ = 𝑏 2 − 4𝑎𝑐 = 4𝜔𝑛 2 (𝜉 2 − 1) Or
If 𝜉 = 1, then 𝜉 2 − 1 = 0 →two same roots 𝜔𝑛 2 𝐴 𝐵 𝐶
𝐶(𝑠) = = + +
𝑠(𝑠+𝜔𝑛 )2 𝑠 (𝑠+𝜔𝑛 )2 𝑠+𝜔𝑛
𝑠1,2 = −𝜔𝑛
𝜔𝑛 2 𝜔𝑛 2
𝐴 = lim 2
= 1, 𝐵 = lim = −𝜔𝑛 , 𝐶
𝑠→0 𝑠 + 𝜔𝑛 𝑠→−𝜔𝑛 𝑠
The step response is monotonic without any
overshoots and undershoots. 𝜔𝑛 2
𝑑( )
= lim 𝑠 = −1
𝑠→−𝜔𝑛 𝑑𝑡
1 1 1
𝑐 𝑡 = L−1 − −
𝑠 𝑠 + 𝜔𝑛 2 𝑠 + 𝜔𝑛
𝑐 𝑡 = 1 − 𝑒 −𝜔𝑛𝑡 (𝜔𝑛 𝑡 + 1)
 Cont.…

Over damped case: 𝝃 > 𝟏

𝑠 2 + 2𝜉𝜔𝑛 𝑠 + 𝜔𝑛 2 = 0
𝑎 = 1, 𝑏 = 2𝜉𝜔𝑛 , 𝑐 = 𝜔𝑛 2
Δ = 𝑏 2 − 4𝑎𝑐 = 4𝜔𝑛 2 (𝜉 2 − 1)
If 𝜉 > 1, then 𝜉 2 − 1 > 0 →two real and distinct roots
𝑠1,2 = −𝜉𝜔𝑛 ± 𝜔𝑛 𝜉 2 − 1
𝑠1 = −𝜉𝜔𝑛 + 𝜔𝑛 𝜉 2 − 1 , 𝑠2 = −𝜉𝜔𝑛 − 𝜔𝑛 𝜉 2 − 1
both the roots are lying on real axis
 Cont.… For a unit step input for undamped case. In this case,
Y(s)/R(s) can be written as
𝐶(𝑠) 𝜔𝑛 2
Undamped case: 𝝃 = 𝟎 =
𝑅(𝑠) 𝑠 2 + 𝜔𝑛 2
𝑠 2 + 2𝜉𝜔𝑛 𝑠 + 𝜔𝑛 2 = 0
Or
𝑎 = 1, 𝑏 = 2𝜉𝜔𝑛 , 𝑐 = 𝜔𝑛 2
Δ = 𝑏 2 − 4𝑎𝑐 = 4𝜔𝑛 2 (𝜉 2 − 1) 𝜔𝑛 2 𝐴 𝐵 𝐶
𝑐 𝑠 = = + +
If 𝜉 = 0 , then 𝜉 2 − 1 < 0 → two pure imaginary 𝑠(𝑠 + 𝑗𝜔𝑛 )(𝑠 − 𝑗𝜔𝑛 ) 𝑠 𝑠 + 𝑗𝜔𝑛 𝑠 − 𝑗𝜔𝑛
roots 𝜔𝑛 2 𝜔𝑛 2
𝐴 = lim = 1, 𝐵 = lim
𝑠1,2 = ±𝑗𝜔𝑛 𝑠⟶0 (𝑠 + 𝑗𝜔𝑛 )(𝑠 − 𝑗𝜔𝑛 ) 𝑠⟶𝑠+𝑗𝜔𝑛 𝑠(𝑠 − 𝑗𝜔𝑛 )

𝑠1 = +𝑗𝜔𝑛 ,𝑠2 = −𝑗𝜔𝑛 1 𝜔𝑛 2 1

= − , 𝐶 = lim =−
both the roots are lying on imaginary axis. 2 𝑠⟶𝑠−𝑗𝜔𝑛 𝑠(𝑠 + 𝑗𝜔𝑛 ) 2
The transient response is oscillatory in nature and 𝜔𝑛 2 1 𝑠
does not die out 𝑐 𝑠 = = − 2
𝑠(𝑠 + 𝑗𝜔𝑛 )(𝑠 − 𝑗𝜔𝑛 ) 𝑠 𝑠 + 𝜔𝑛 2
1 𝑠
L−1 − 2 = 1 − cos(𝜔𝑛 𝑡)
𝑠 𝑠 + 𝜔𝑛 2
 Cont.… For a unit step input for undamped case. In this case,
Y(s)/R(s) can be written as
𝐶(𝑠) 𝜔𝑛 2
Undamped case: 𝝃 = 𝟎 =
𝑅(𝑠) 𝑠 2 + 𝜔𝑛 2
𝑠 2 + 2𝜉𝜔𝑛 𝑠 + 𝜔𝑛 2 = 0
Or
𝑎 = 1, 𝑏 = 2𝜉𝜔𝑛 , 𝑐 = 𝜔𝑛 2
Δ = 𝑏 2 − 4𝑎𝑐 = 4𝜔𝑛 2 (𝜉 2 − 1) 𝜔𝑛 2 𝐴 𝐵 𝐶
𝑐 𝑠 = = + +
If 𝜉 = 0 , then 𝜉 2 − 1 < 0 → two pure imaginary 𝑠(𝑠 + 𝑗𝜔𝑛 )(𝑠 − 𝑗𝜔𝑛 ) 𝑠 𝑠 + 𝑗𝜔𝑛 𝑠 − 𝑗𝜔𝑛
roots 𝜔𝑛 2 𝜔𝑛 2
𝐴 = lim = 1, 𝐵 = lim
𝑠1,2 = ±𝑗𝜔𝑛 𝑠⟶0 (𝑠 + 𝑗𝜔𝑛 )(𝑠 − 𝑗𝜔𝑛 ) 𝑠⟶𝑠+𝑗𝜔𝑛 𝑠(𝑠 − 𝑗𝜔𝑛 )

𝑠1 = +𝑗𝜔𝑛 ,𝑠2 = −𝑗𝜔𝑛 1 𝜔𝑛 2 1

= − , 𝐶 = lim =−
both the roots are lying on imaginary axis. 2 𝑠⟶𝑠−𝑗𝜔𝑛 𝑠(𝑠 + 𝑗𝜔𝑛 ) 2
The transient response is oscillatory in nature and 𝜔𝑛 2 1 𝑠
does not die out 𝑐 𝑠 = = − 2
𝑠(𝑠 + 𝑗𝜔𝑛 )(𝑠 − 𝑗𝜔𝑛 ) 𝑠 𝑠 + 𝜔𝑛 2
1 𝑠
L−1 − 2 = 1 − cos(𝜔𝑛 𝑡)
𝑠 𝑠 + 𝜔𝑛 2
Cont.…

Time response of second order system

 Example 4.2

1. The natural frequency of closed loop poles of second order system is 2rad/sec and damping
ration 0.5 . Determine the locations of closed loop poles.
Transient Response Specifications

• The desired performance characteristics of control system are usually defined in terms of the
unit-step response of the system.
• The transient response of a system often exhibits damped oscillations before reaching steady
state.
• In specifying the transient-response characteristics of a control system to a unit-step input, it is
common to specify the following parameters associated with the under damped response:
1. Delay time, Td
2. Rise time, Tr
3. Peak time, Tp
4. Percent overshoot (%OS) or Maximum overshoot (Mp)
5. Settling time, Ts
Cont.…

Unit-Step response
Definitions
• Delay time (Td): it is the time required for the response to reach half the final value the very first
time.
• Rise time (Tr): it is the time required for the response to rise from 10% to 90%. In other words, to
go from 0.1 of the final value to 0.9 of the final value.

where wd is :

• Peak time (Tp): it is the time required for the response to reach the first peak of the overshoot.

or
Cont.…
• Maximum overshoot (Mp): it is the maximum peak value of the response curve measured from
unity. It is also the amount that the waveform overshoots the final value, expressed as a
percentage of the steady-state value.

• Settling time (Ts): it is the time required for the transient damping oscillations to reach and stay
within ±2% or ±5% of the final or steady-state value.

and
 Example 4.3

1. For the given transfer function. the transient response specifications (Td, Tp, %Mp, and Ts)
Error minimization performance index

• A number of performance measures have been introduced in respect of dynamic response to the
step input and the steady state error.
• A performance index is a quantitative measure of the performance of a system and is chosen so
that emphasis is given to the important system specification.
• A performance index to be useful must be a number that is always positive or zero. Then the
system is defined as the system that minimize time index.
Cont.…
The most popular performance index are:
1. The integral of the square-error criterion (ISE)
∞
𝐼𝑆𝐸 = 𝑒 2 𝑡 𝑑𝑡
0
2. Integral of absolute error(IAE)
∞
𝐼𝐴𝐸 = 𝑒(𝑡) 𝑑𝑡
0
3. Integral time multiplied square error(ITSE)
∞
𝐼𝑇𝑆𝐸 = 𝑡 𝑒 2 𝑡 𝑑𝑡
0
4. Integral time multiplied absolute error(ITAE)
∞
𝐼𝑇𝐴𝐸 = 𝑡 𝑒(𝑡) 𝑑𝑡
0
Stability
BIBO
A system is stable if every
bounded input yields a bounded
output.

A system is unstable if any

bounded input yields an
unbounded output.
 Introduction

• The issue of ensuring the stability of a closed-loop feedback system is the central to control system
design.
• Knowing that unstable closed loop system is generally of no practical value. Thus we seek methods of
help us analyze and design stable systems.
• Basically the design of linear control system required as a problem of arranging the location of the
poles and zeros of the closed loop transfer function such that the corresponding system will perform
according to the prescribed speciation.
• For analysis and design purpose, we can classify the stability of the control system as absolute stability
and relative stability.
 Cont.…
• For BIBO stability, a necessary and sufficient conditions for a
system to be stable.
 The roots of characteristic equation or the poles of G(s),
must be all lie in the left-half S-plane.
 All poles of the system transfer function have negative real
part.
• Let 𝑺𝒊 is the poles of G(s)
 The system is Asymptotically stable if 𝑅𝑒(𝑆𝑖 ) < 0 for all 𝑖
 The system is marginally stable if 𝑅𝑒(𝑆𝑖 ) = 0 for all 𝑖 and
simple root for 𝑅𝑒(𝑆𝑖 ) = 0
 unstable if it is neither stable nor marginally stable.
Cont.…
Example
1. Consider the following transfer function and illustrate the stability conditions
𝟐𝟎
a. 𝑻(𝒔) =
(𝒔+𝟓)(𝒔+𝟒)(𝒔+𝟏)
𝟐𝟎 (𝒔+𝟏)
b. 𝑻(𝒔) =
(𝒔−𝟏)(𝒔𝟐 +𝟐𝒔+𝟐)(𝒔+𝟏)

𝟐𝟎
c. 𝑻(𝒔) =
(𝒔+𝟐)(𝒔𝟐 +𝟒)
Routh-Hurwitz criterion
• The methods to be outlined for the determination of the stability of linear control system.
• The criterion tests whether any of the roots of the characteristic equation lies in the right half
the S-plane
• This is for LTI systems with a polynomial denominator (without sin, cos, exponential etc.)
• It determines if all the roots of a polynomial
 lie in the open LHP (left half-plane),
 or equivalently, have negative real parts
• It also determines the number of roots of a polynomial in the open RHP (right half-plane).
• It does NOT explicitly compute the roots.
Cont.…
• The Routh-Hurwitz criterion is necessary and sufficient conditions for stability of linear control
systems based on the coefficient of the characteristic equation.
• Consider the characteristic equation
𝑭 𝒔 = 𝒂𝟎 𝒔𝒏 + 𝒂𝟏 𝒔𝒏−𝟏 + 𝒂𝟐 𝒔𝒏−𝟐 + ⋯ + 𝒂𝒏−𝟏 𝒔 + 𝒂𝟎 = 𝟎
The necessary conditions are
1. All the coefficients of F(s) have the same sign
2. All power of s must present in descending order.
3. The above conditions are not sufficient.
Routh’s tabulation
The first step in the simplification of the Hurwitz criteria is to arrange the coefficients of F(s) in two rows
Routh’s Table

From the given

F(S)
How to compute the third row
How to compute the fourth row
Cont.…

Routh-Hurwitz criterion : is states that

The number of roots in the open right half-plane

is equal to the number of sign changes in the
first column of Routh array.
 Two special case when Routh’s tables terminates prematurely.

Case I : Zeros in the first column.

 If any row of the Routh- Array is zero, it should be replaced by a small 𝜖 positive
number in order to complete the array
 The sign of the elements of the first column is then examined as 𝜖 approaches zero.
Case II: All Elements in any one row are zero
The situation with the entire row of zero can be remedied by using the auxiliary equation A(s)=0,
which is formed from the coefficients of the row just above the row of zeros in the routh’s table.
Cont.…
Take the following steps.
1. From the auxiliary equation A(s)=0 by use of the coefficients from the row just preceding the
row of the zeros.
2. Take the derivative of the auxiliary equation w.r.t ‘s’
3. Replace the row of zeros, with coefficients of the derivatives
 Cont.…

Example
A control system has a characteristic equation F(s), Using Routh-Hurwitz criterion determine the
stability of the system.

a. 𝑭 𝒔 = 𝒔𝟓 + 𝟐𝒔𝟒 + 𝟓𝒔𝟑 + 𝟏𝟎𝒔𝟐 + 𝟖𝒔 + 𝟐𝟒 = 𝟎

b. 𝑭 𝒔 = 𝒔𝟓 + 𝟒𝒔𝟒 + 𝟖𝒔𝟑 + 𝟖𝒔𝟐 + 𝟕𝒔 + 𝟒 = 𝟎

c. 𝑭 𝒔 = 𝒔𝟔 + 𝟒𝒔𝟓 + 𝟏𝟐𝒔𝟒 + 𝟏𝟔𝒔𝟑 + 𝟒𝟏𝒔𝟐 + 𝟑𝟔𝒔 + 𝟕𝟐 = 𝟎

THE END