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Routh's Criterion: H (S) C(S)

Routh's criterion provides a necessary condition for stability - that all coefficients of the characteristic equation be positive. A system is stable if all elements in the first column of the Routh array are positive. The document then gives an example of a system to be controlled with a PI controller, and asks to sketch the stability range on a plot of P versus I. The solution shows that the system is stable when I is positive and P is greater than -2/3.

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40 views2 pages

Routh's Criterion: H (S) C(S)

Routh's criterion provides a necessary condition for stability - that all coefficients of the characteristic equation be positive. A system is stable if all elements in the first column of the Routh array are positive. The document then gives an example of a system to be controlled with a PI controller, and asks to sketch the stability range on a plot of P versus I. The solution shows that the system is stable when I is positive and P is greater than -2/3.

Uploaded by

salim
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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E102 Class Topics

5. Routh’s Criterion

Given the characteristic equation of an nth-order system


s n + a1sn−1 + a2sn−2 +K + an−1s+ an = 0

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.

1
A system H (s) = is to be controlled with a “proportional-plus-integral” PI
(s+1)(s+ 2)
I
controller C(s) = P +
s

Sketch the range of stability of the closed loop system on a plot of P versus I.

Anthony Bright 4/30/2020


E102 Class Topics

Solution

I
I > 0; P > −2
3

Anthony Bright 4/30/2020

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