Control Systems - Stability Analysis

In this chapter, let us discuss the stability analysis in the ‘s’ domain using the RouthHurwitz stability criterion. In this criterion, we require the characteristic equation to find the stability of the closed loop control systems.

Routh-Hurwitz Stability Criterion

Routh-Hurwitz stability criterion is having one necessary condition and one sufficient condition for stability. If any control system doesn’t satisfy the necessary condition, then we can say that the control system is unstable. But, if the control system satisfies the necessary condition, then it may or may not be stable. So, the sufficient condition is helpful for knowing whether the control system is stable or not.

Necessary Condition for Routh-Hurwitz Stability

The necessary condition is that the coefficients of the characteristic polynomial should be positive. This implies that all the roots of the characteristic equation should have negative real parts.

Consider the characteristic equation of the order ‘n’ is -

Note that, there should not be any term missing in the n th order characteristic equation. This means that the n th order characteristic equation should not have any coefficient that is of zero value.

Sufficient Condition for Routh-Hurwitz Stability

The sufficient condition is that all the elements of the first column of the Routh array should have the same sign. This means that all the elements of the first column of the Routh array should be either positive or negative.

Routh Array Method

If all the roots of the characteristic equation exist to the left half of the ‘s’ plane, then the control system is stable. If at least one root of the characteristic equation exists to the right half of the ‘s’ plane, then the control system is unstable. So, we have to find the roots of the characteristic equation to know whether the control system is stable or unstable. But, it is difficult to find the roots of the characteristic equation as order increases.

So, to overcome this problem there we have the Routh array method. In this method, there is no need to calculate the roots of the characteristic equation. First formulate the Routh table and find the number of the sign changes in the first column of the Routh table. The number of sign changes in the first column of the Routh table gives the number of roots of characteristic equation that exist in the right half of the ‘s’ plane and the control system is unstable.

Follow this procedure for forming the Routh table.

• Fill the first two rows of the Routh array with the coefficients of the characteristic polynomial as mentioned in the table below. Start with the coefficient of $s^n$ and continue up to the coefficient of $s^0$.
• Fill the remaining rows of the Routh array with the elements as mentioned in the table below. Continue this process till you get the first column element of row $s^0$ is $a_n$. Here, $a_n$ is the coefficient of $s^0$ in the characteristic polynomial.

Note − If any row elements of the Routh table have some common factor, then you can divide the row elements with that factor for the simplification will be easy.

The following table shows the Routh array of the n th order characteristic polynomial.