1 1

ME-5015
VIBRATION AND CONTROL
LECTURED BY
Dr.MYA MYA KHAING
ASSOCIATE PROFESSOR
DEPARTMENT OF MECHANICAL ENGINEERING
Y.T.U
2 2
OUTLINE OF PRESENTATION
1. Three Degree of Freedom
2. Control
3 3





1.Three Degree of freedom
(a) Newtons method
(b) Mechanical Impedance method
(c) Influence coefficients
(d) Matrix method
(e) Holzer method
(f) Matrix Iteration method

4
Example 1/(a) Determine the equation of motion of the system shown by Newtons
method.
(b) If k1=k2 =k3=k, m1=m2=m3=m, find the natural frequencies of the
system.


x
3
x
2

x
1

K
3
K
2
K
1
m
1

m
2

m
3

K
4

m
1

m
2

m
3

1 1
x m

2 2
x m

3 3
x m

K
1
x
1
K
2
(x
1
-x
2
)
K
3
(x
2
- x
3
)
5
Equations of motions are

( )
2 1 2 1 1 1 1
x x k x k x m =


( ) ( )
3 2 3 2 1 2 2 2
x x k x x k x m =


( )
3 4 3 2 3 3 3
x k x x k x m =


( ) 0
2 1 2 1 1 1 1
= + x x k x k x m

( ) 0
1 2 2 3 2 1 2 2 2
= + x k x k x x k x m

0 ) (
2 3 4 3 3 3
= + + x k k k x m


k
1
=k
2
=k
3
=k, m
1
=m
2
=m
3
=m

Assume that the motion is harmonic,

( ) ( ) ( ) | e | e | e + = + = + = t X t X t X x sin x , sin x , sin
3 3 2 2 1 1

6


Differentiating twice and
rearranging,












Differentiating twice and rearranging,

( ) ( ) ( ) 0 sin sin 2 sin
3 2 1
2
= + + + + | e | e | e e t kX t kX t X m

( ) ( ) ( ) ( ) 0 sin sin sin 2 sin
1 3 2 2
2
= + + + + + | e | e | e | e e t kX t kX t kX t X m

( ) ( ) ( ) 0 sin sin 3 sin
2 3 3
2
= + + + + | e | e | e e t kX t kX t X m

( ) 0 2
2 1
2
= kX X m k e


( ) 0 2
3 2
2
1
= + kX X m k kX e


( ) 0 3
3
2
2
= + X m k kX e


( )
( )
( )
0
3 0
2
0 2
2
2
2
=



e
e
e
m k k
k m k k
k m k


( ) ( ) ( ) | | ( ) | | 0 3 2 2 2
2 2 2 2 2
= e e e e m k k k m k m k m k

7
0 C Bx Ax x
m
k
7 C ,
m
k
14 B ,
m
k
7 A
0
m
k
7
m
k
4 1
m
k
7
2 3
3 2
3
3
2
2
2
4 6
= +
|
.
|

\
|
=
|
.
|

\
|
= =
= +
1.3809rad , 0.1887
3B A
A
3B A
9C - AB
Cos
2
3
2
3
2
2
= =

= | |


( ) 2 3809 . 1
3
1
cos 14 3 7
3
2
/ 7
3
1
2 2
n
m
k
m k t e + =

n = -1, e
2
= 2.445k/m

n = 0, e
2
= 0.7522k/m

n = 1 e
2
= 3.8 k/m

m
k
1.949 ,
m
k
1.5636 ,
m
k
0.867
3 2 1
= = = e e e

( ) 1,0,-1 n 2
3
1
cos 3
3
2
3
1
2
= + = n B A A x t |
8 8
x
3
x
2
x
1
2m
4m
6m
2k
4k
6k
m
1

m
2

m
3
Example (2) Find the natural frequencies of the given system by
Mechanical impedance Method



For junction 1, (m1)
(6k+4k - m
1
e
2
)x
1
- 4kx
2
= 0
(10k - 6m e
2
)x
1
- 4kx
2
= 0 (1)
(4k+2k - m
2
e
2
)x
2
- 4kx
1
- 2kx
3
= 0
(6k - 4k e
2
)x
3
- 2kx
2
=0 (2)


2k - 2m e
2
)x
3
- 2kx
2
= 0 (3)




For junction 2, (m2)
For junction 3, (m3)
9 9
Rearranging
(10k-6m
e
2
)x
1
-4kx
2
= 0
-4kx
1
+(6k-4m
e
2
)x
2
-2kx
3
= 0
-2kx
2
+(2k-2m
e
2
)x
3
= 0
The frequency equation is


0
) 2m - (2k 2k - 0
2k - ) 4m - (6k 4k -
0 4k - ) 6 10 (
2
2
2
=

e
e
e m k

By expanding
(10k-6me
2
)[(6k-4me
2
)(2k-2me
2
)- 4k
2
] 4k[-4k(2k-2kme
2
)] = 0
10 10
0 C Bx Ax x
m
k
C ,
m
k
4.5 B ,
m
k
401667 A
0
m
k

m
k
4.5
m
k
4.1667
2 3
3 2
3
3
2
2
2
4 6
= +
|
.
|

\
|
=
|
.
|

\
|
= =
= +

0.1887
3B A
A
3B A
9C - AB
Cos
2
3
2
3
2
2
=

= |

|
= 1.735 rad
( ) ( ) n
m
k
m
k
m
k
t e 2 765 . 1
3
1
cos 5 . 4 3 1667 . 4
3
2
1667 . 4
3
1

2
2
2
+
|
.
|

\
|
=

=1.3889 k/m 1.3146k/m cos 1/3 (1.765+2n
t
)

n = -1,
e
2
= 1.305k/m
n = 0,
e
2
= 0.2953k/m
n = 1
e
2
= 1.3052.5629k/m
m
k
1.6 ,
m
k
1.142 ,
m
k
0.5464
3 2 1
= = = e e e

11 11






Control
Chapter 1
INTRODUCTION TO CONTROL SYSTEM


Chapter 2
DIFFERENTIAL EQUATIONS AND
LINEARIZATION OF A NON-LINEAR FUNCTION

Chapter 3
MODELLING OF CONTROL SYSTEMS

Chapter 4
FREQUENCY RESPONSE METHODS
12
CHAPTER 1
INTRODUCTION TO CONTROL SYSTEM



Control
element
Output
Input
control system
classification of control system
control system terminology
block-diagram algebra
13 13
1/s 2/s
2
3
+
+
+
+
_
X
Y
1/s 2/s
2
3
+
+
+
_
X
Y
_
s/2



Example 1.1
14 14
1/s
2/S+6
+
+
+
X
Y
_
S
+
+
X
Y
_
S
2
S(S+6)
15 15
X
Y
S+1
2
S(S+6)
X
Y
2
S
2
+S5+2
Tutorial No 1(a), (b), ( c), (d)
16 16
H1
G3 G4
H3
C
-
-
R
H2
G2 G1
H1/G2
G3 G4
H3
C
-
-
R
H2
G2 G1
No.1(d)
17 17

3 4 3 2 1 1 4 3 2 3 2 1
4 3 2 1
H G G G G H G G H G G
G G G G
+


H1/G2
G4
H3
C
- -
R
G2G3H2 1
G3 2
+
G

G1

H3
C
-
G3G4H1 - G2G3H2 1
G3G4 2
+
G

G1
R
18 18

Linearization of a Non-linear function
Chapter 2
Differential Equations and Linearlization of a Non-linear
Function
Mechanical squaring device and skeletal representation of
squaring device
19 19
Graph of function Y = X
2
/K
20 20
The equation for Y is Y = Y
i
+ y + ?
~
Y
i
+ y
The slope of tangent line
i
dX
dY
x
y
=

= Slope at point (X
i
, Y
i
)
y =
i
dX
dY
x =
x
K
X
dX
d
i
|
|
.
|

\
|
2
= 2X
i
/Kx
Y = Y
i
+
x
K
X
i

2

21 21

Example 2.1. Effect a linear approximation for the equation Y =
X
2
for values of X in the neighborhood of 10, and find the error
when using this approximation for X = 11.
X
i
= 10, Y
i
= = 100X
i
= 10, Y
i
= = 100
x = X X
i
= 11-10 =1 and K = 1
Y~ Y
i
+
~ 100 + ~ 120
The exact value Y = X
2
= 11
2
= 121
Error is 1 part in 121 less than 1 per cent.


22 22
Linearization of Operation Curves
Characteristic curves of an engine
23 23
Linearization gives
t
i
T
N
q
Q
N
c
c
+
c
c
i
Q
N
c
c
7 . 66
20 32
1600 2400
=

t
T
N
c
c
15
160 80
1530 2700
=

Thus for operation in the vicinity of the point N

=
A
T 100
A
V
P = P
i
+
A
P = 1000 + (
A
T 100
A
V)
= 1000 + (1200 1000) 100 (11-10)
= 1100 N/m
2

P =
V
MRT
=
11
1200 287 ) 287 / 10 (
= 1090.9 N/m
2

error =
1100
100 9 . 1090 1100
= 0.827

26 26
No. (4) (a) N = F (Q, T)
n = f (q, t)
n =
t
Q
N
q
Q
N
t
T
N
q
Q
N
i i i i
+ =
c
c
+
c
c

=
t
80 160
2750 1650
q
23 30
1750 2250

= 71.43 q 13.25 t

(b) Q = F (N, T)
q = f (n, t)
q = t
T
Q
n
N
Q
t
N
Q
n
N
Q
i i i i
+ =
c
c
+
c
c

=
t
80 160
17.5 32.5
n
2250 1750
30 23
i

= 0.014 n + 0.1875 t
27 27
(c) T = F (Q, N)
t = f (q, n)
t = n
N
T
q
Q
T
i i

c
c
+
c
c

= n
N
T
q
Q
T
i i
+
=
n
1600 2700
160 80
q
5 . 17 5 . 32
80 160

= 5.33 q 0.0727 n
28 28
No. (5) M
2
= k x z k = 30 m
3
/hr
X
o
= 6 atm, Z
o
= 0.5 cm
M
2i
= k x
i
z
i
= 30 6 0.5 = 90 m
3
/hr
From graph M
1
= F (Y, X)
m
1
= y
Y
M
x
X
M
i
1
i
1

c
c
+
c
c

=
y
5 . 0 8 . 0
80 113
x
7 5
68 118

= - 25 x + 110 y
M
2
= F (X, Z)
m
2
=
z
Z
M
x
X
M
i
2
i
2

c
c
+
c
c

29 29
=
z X K x Z K
i i
+

= k Z
o
x + k X
o
z
= 30 0.5 x + 30 6 z
= 15x + 180z
At steady state, M
1
= M
2

m
1
= m
2

-25x + 110y = 15x + 180 z
40 x = 110y 180z
x = 2.75y 4.5z
30 30
CHAPTER 3
MODELLING OF CONTROL SYSTEMS
3.1. Spring-mass system


Change in length x
F
Spring
Output
Input
x (t) F (t)
31 31
3.2. Spring-mass-damper system

F

Mass M

K BD MD
+ +
2
1

x f
f = (M D
2
+BD+K) x
32 32
3.3. Thermal System
T2
T
Mercury, m


Glass tube area, A


Thickness, B


Input T1 Output T2 KA
KA+ mCpBD
33 33
3.4. Hydraulic servomotor
34 34

35 35
Q = Flow rate = change of volume of
master cylinder = A velocity of piston
Q = ce = ADy, e = A/cDy = f(x,y) =
But


y D Dy
c
A
y x
b a
b
e
|
.
|

\
|
+ = = =
+ +
=
c
2A
1 x ,
2
y - x
e ,
b a
a
-
x
2
1 =
|
.
|

\
|
+ y D
c
A

AD
c
2

y x
b a
b

+
=
c
c
x
e
36 36
3.5. First and second Order System
First Order Second Order

y) - k(x x +

c
= 0
0 y) - ( x x = + + x k c m



kx x + c
= ky
ky x x = + + kx c m

(1 +
k
c
D) x = y
y
m
k
x
m
k
D
m
c
D =
|
.
|

\
|
+ +
2

(1+TD) x = y
n n
m
c
m
k
e e 2 ;
2
= =

T =
k
c
= Time Constant (D
2
+ 2
,

n
D +
2
n
) x =
2
n
y
37 37
3.6. Response of a first order system to step, Ramp and
sinusoidal Functions
Step Function y = Y (constant)
(1 + TD) x
0
= y
i
= Y
The transient solution Steady state Solution

( 1 + TD ) x = 0 ( 1 + TD ) x = Y
D = -
T
1
For Steady State D = 0
x = A e
-t /T
x = Y

x = A e
-t /T
+ Y
38 38

time time
y y
Y Y
|





=

t
t
e Y x 1

at t = 0 , the output x = 0 and 0
dt
dx
=
0 = A e
o
+ Y,... A = -Y
x = -Y e
-t /T
+ Y
x = Y( 1 - e
-t /T
)
39 39
Ramp Function y = Vt

(1+ TD) x = y = Vt (1)
The Steady state solution is of the form
x
ss
= A t + B
Dx = A (2)
(2) Substituting in (1)
(A t + B) + TA = V T

A = V, B + AT = 0

B = -AT = - VT, x
ss
= V t - V T

x = x
t
+ x
ss
= A e
-t /T
+ V t V T
When t = 0, x = 0

A = V T
x = VT e
-t /T
+ Vt VT
x = V (t T + T e
-t /T
)
40 40

y = Vt
|





+ =

t
t
Te T t V x

Steady state error
time
y

x
Steady state error = y x
(When t is large ) = Vt V (t T) = VT
41 41
Sinusoidal Function y = Y sin t
( 1 + TD) x = y = Y sin t
( 1 + TD) x = Y e
jt
|
|
.
|

\
|

+
1
1
tan

) ( 1
jwt
e
2
T
j
e
T
Y
e
e
x =
|
|
|
|
|
.
|

\
|

+
t t
j
e
T
Y
e e
e
1
tan
) ( 1

2

x =
( ) t t
T
Y
e e
e
1
2
tan sin
) ( 1

+

x =
) ( 1
j
e
1

t j
e
e
e e
j T
t
Y
TD
Y
+
=
+

42 42
Response of a Second Order System to Step, Ramp and
Sinusoidal Functions
Sinusoidal Function, y = Ysin t
Steady state solution
(D
2
+ 2
,

n
D+
2
n
) x =
2
n
y =
2
n
Y sin t
x =
2
2
2
2
2
2
) ( 2 ) (
2
n n
jwt
n
n n
n
j j
e Y
D D
t Sin Y
e e e e
e
e e
e e
+ +
=
+ +

=
r j r
e Y
j
e Y
jwt
n n
jwt
n
, e e e
e
2 ) 1 ( 2 ) (
2 2 2
2
+
=
+

=
2 2 2
)
1
2
tan (
) 2 ( ) 1 (
2
1

e
+

r
e Y
t j


x =
2 2 2
) 2 ( ) 1 (
) ( sin
r r
t Y

| e
+

; tan
|
= 2
1
2
r
r

43 43
For , > 1 x = A
1
e
D
1
t
+ A
2
e
D
2
t
+
When t = 0, x = 0,

0
dt
dx
=
0 = A
1
+ A
2
-
2 2 2
) 2 ( ) 1 (
sin
r r
Y

|
+

A
1
=
2 2 2
) 2 ( ) 1 (
sin
r r
Y

|
+
- A
2


A
1
D
1
+ A
2
D
2
+
2 2 2
) 2 ( ) 1 (
cos
r r
Y

| e
+
= 0

0
) 2 ( ) 1 (
cos
) 2 ( ) 1 (
sin
2 2 2
2 2 2 1
2 2 2
1
=
+
+ +
+ r r
Y
D A A D
r r
D Y

| e

|


A
2
(D
1
-D
2
) =
2 2 2
2 2
) 2 ( ) 1 (
) 1 ( ) 1 ( 2

e e
+
+ +
r
r Y w r Y
n n

44 44
A
2
=
| |
| | ) 1 2 ) 2 ( ) 1 (
) 1 2 2 ) 1 (
2 2 2 2
2 2 2
+
+
e
e e
n
n n
r
r Y


A
2
=
| |
| |
2 2 2 2
2 2 2
) 2 ( ) 1 ( ) 1 2
) 1 2 2 ) 1 (


+
+
r
r Y

A
1
=
( )
2
2 2 2
) 2 ) 1 (
sin
A
r r
Y

+
|


A
1
=
| |
| |
2 2 2 2
2 2 2 2 2
) 2 ( ) 1 ( 1 2
1 2 2 ) 1 ( 1 2 2


+
+
r
r Y Y


A
1
=
| |
2 2 2 2
2 2 2
) 2 ( ) 1 ( 1 2
] 2 ) 1 ( 1 2 [


+
+
r
r Y


x = A
1
e
D1t
+ A
2
e
D2t
+
2 2 2
) 2 ( ) 1 (
) ( sin
r r
t Y

| e
+


45 45
For
,
= 1
x = (A
1
+A
2
t)e
-
n
t
+
2 2 2
) 2 ( ) 1 (
) ( sin
r r
t Y

| e
+


t = 0, x = 0 = A
1
=
2 2 2
) 2 ( ) 1 (
) ( sin
r r
t Y

| e
+


A
1
=
2 2 2
) 2 ( ) 1 (
sin
r r
Y

|
+

A
1
=
2 2 2
) 2 ( ) 1 (
2
r r
Y

+

2 2 2
2 1
) 2 ( ) 1 (
cos
0
r r
Y
A A
dt
dx
n

| e
e
+
+ + = =

46 46
A
2
=
2 2 2
) 2 ( ) 1 (
cos sin
r r
Y Y
n n

| e | e
+


=
| |
2 2 2
2
) 2 ( ) 1 (
) 1 ( 2 2
r r
Y
n

e
+


A
2
=
2 2 2
2
) 2 ( ) 1 (
) 1 (
r r
Y
n

e
+
+

x = (A
1
+ A
2
t) e
-
n
t
+
2 2 2
) 2 ( ) 1 (
) sin(
r r
t Y

| e
+


For
,
< 1
x = e
-,
n
t
X sin (
e
d
t +
|
t
) +
2 2 2
) 2 ( ) 1 (
) sin(
r r
t Y

| e
+


t = 0, x = 0, X sin
|
t
=
2 2 2
) 2 ( ) 1 (
sin
r r
Y

|
+

t = 0,
dt
dx
= 0,
47 47
( )
2 2 2
) 2 ( ) 1 (
sin
r r
Y
n

e |
+

+ X
d
Cos
|
t
+ 0
) 2 ( ) 1 (
2 2 2
=
+ r r
Y

e


X cos
|
t
=
2 2 2
) 2 ( ) 1 (
cos . . sin
r r
Y Y
d
n
e
| e | ,e
+


tan
|
t
=
| e | e
| e
cos
sin
Y Sin Y
Y
n
d

=
) 1 ( 2
2 1
2
2
r Y r Y
r Y
n
n

e e
e

tan
|
t
=
2 2
2
r 1 2
1 2
+

48 48
X =
2 2 2
) 2 ( ) 1 ( sin
sin
r r
Y
t
|
|
+

=
2 2 2 2
) 2 ( ) 1 ( 1 2
2
r r
Y


+

X =
2 2 2 2
) 2 ( ) 1 ( 1 r r
Y


+

x = X e
-,
n
t
sin (
d
t +
|
t
) +
2 2 2
) 2 ( ) 1 (
) sin(
r r
t Y

| e
+


Tutorial No(3), No(7), No(8), No(10)
49 49
No. (3) to show that
D 1
1
T
T
i

t +
=
To = output temperature
T
2
= input temperature
1 = time constant =
K A
c m

Heat lost from fluid = q = A k (T
i
- T
o
)
Where A = area of heat transfer
K = heat transfer coefficient
50 50
Heat gain of thermometer = m c
dt
dT
o

A K (T
i
- T
o
) = m c
dt
dT
o

m c D T
o
= A K (T
i
- T
o
)
T
o
=
) T (T
D c m
K A
o i

T
o
+

o
T
D c m
K A

= i
T
D c m
K A

T
o

|
.
|

\
|

+
D c m
K A
1 =
i
T
D c m
K A

51 51
i
o
T
T
=
D c m
AK
1
1
D c m
K A

+

=
D
AK
mc
1
1
+

=
D 1
1
+
where
t
=
K A
c m

Step input function
x = Y (1 e
-t /t
), T
o
= T
i
(1 e
-4/t
),
(38-10) = (50-10) (1 e
-4/t
)

t
= 3.332 sec
Steady state error = 3 3.332 = 9.996 sec
52 52
Chapter 4
FREQUENCY RESPONSE METHODS
4.1. Polar Plot
Example4.1. In order to illustrate the plotting of a transfer function, consider the open-
loop
transfer function given by P(s) = 1/ (s+1)
Letting s = j
P (j) = 1/ (j+1) = e
e
1 -
2
tan -
1
1
Z
+

For = 0, P (j0) = 1
Z
0
= 1, P (j1) = 1/?2
Z
-45
= ? , P (j ? ) = 0
Z
-90
53 53


. Polar plot for open-loop function
54 54
Case (1) Integrator. Consider a device such as an electric motor or a hydraulic ram
which
integrates the input signal at a constant rate. Let this rate be one unit per second.
G(s) = 1/s
G (j ) = 1/ j = -j/ = 1/
Z
-90
Im
0 1 Re


= 4

= 2



-1 = 1






-2 = 0.5 rad/sec


Polar plot for integrator
55 55
Case (2). First Order System Or Simple Lag : The transfer function for unit
steady gain is G(s) = 1/ (1+ s)
To obtain the frequency response characteristics replace by j:
|
.
|

\
|
+
|
.
|

\
|
+
=
+
=
+
=
2 2 2 2 2 2
1
j -
1
1

1
j - 1

j 1
1
) (
t e
et
t e t e
et
et
e j G
( )
Z =
= Z = =
= Z = =
Z
+
= Z =

0 9 ) ( and 0 ) ( ,
45 - ) ( , 2 1/ ) ( , 1/
0 ) ( 1 ) ( 0,
tan
1
1
) ( ) ( ) (
1
2 2
e e e
e e t e
e e e
et
t e
e e e
j G j G
j G j G
j G j G
j G j G j G

56 56

Polar plot for first order system
57 57
Case (3) Second Order System or Quadratic Lag: The transfer function is
|
|
.
|

\
|
+
|
|
.
|

\
|
=
+
= =
+ +
=
n n
n
j
j s s
s G
e
e
,
e
e
,ee e e
e
e
e e ,
e
2 - 1
1

2
) (j G
2
) (
2 2 2
n
2
n
2
n n
2
2
n

For = 0, G (j ) = 1 = 1
Z
0
For = ? , G (j ) = -
2
|
.
|

\
|
e
e
n
= 0
Z
-180
For =
n
, G (j ) = 1/ j2= 1 / 2
Z
-90

For = 2
n
, G (j ) = 1/( -3+j4 ) = 1/ ? (9+ 16
2
)
Z
(tan
-1
4/3 -180)
58 58
2
n n
2
2
n
2
) (
e e
e
+ +
=
s s
s G
Polar plot for
59 59
Bode Plots
1 Constant term (gain term)
G(s) = K, G (j) = K

Bode plot for constant term
60 60
1 Pole at origin:
G(s) = 1/s
G (j) = 1/ j = - j /
The magnitude is 1/, or -20 log
10
dB, which has value 0 dB when
the frequency is 1 rad/sec and decreases by 20 dB for a tenfold increase
in frequency. With plotted on a logarithmic scale the magnitude is
represented by a straight line of slope -20 dB per decade of frequency
and passing through 0 dB for = 1 rad/sec. The phase is -90, a constant
lag, which does not vary with frequency.
(2) Zero at origin:
G(s) = s
G (j) = j
The magnitude is 20 log
10
dB. A straight line of slope +20 dB per
decade passing through 0 dB at = 1 rad/sec
61 61
The phase is 90, which means that the output would lead the input by 90
irrespective of frequency.

Bode plot for poles or zeros at origin
62 62
c). Simple lag or lead (real pole or zero)

(1) Real pole:
G(s) = 1/ 1+ s
et
e
j 1
1
) (
+
= j G

The magnitude is
( )
( )dB j G
2 2
10
2 2
1 20log -
1
1
) ( t e
t e
e + =
+
=

A linear asymptotic approximation is frequently used, making use of the following:

et e et
e et
log 20 ) ( 1 For
0 1 log 20 ) ( 1 For
10
10
~ ))
= ~ ((
dB j G
dB j G

63 63
Bode plot for a simple lag
64 64
Stability

(a)Routh stability criterion
A method for determining system stability that can be applied to the equation,
a
n
D
n
+ a
n-1
D
n-1
+ a
n
-
2
D
n-2
+ .. a
1
D + a
o
= 0


....
...

a
3 2 1
4
3 2 1
2
7 5 3 1
1
6 4 2
n
c c c D
b b b D
a a a a D
a a a D
n
n
n n n n
n
n n n
n

The first two rows are formed by writing down alternate coefficients of the polynomial
equation. Each value in the subsequent rows is calculated from four of the previous
values according to the following pattern.
65 65
,
b
b a - a b
c ,
b
b a - a b

,
a
a a - a a
b ,
a
a a - a a

1
3 1 - n 5 - n 1
2
1
2 1 - n 3 - n 1
1
1 - n
5 - n n 4 - n 1 - n
2
1 - n
3 - n n 2 - n 1 - n
1
= =
= =
c
b
Coefficients are calculated until only zeros are obtained, the rows
shortening until the s
o
row contains only one value.
Every change of sign in the first column of this array signifies
the presence of a root with positive real part. For stability, therefore, all
values in the first column of this array must be positive.
66 66
Example

s
4
+ 2s
3
+ s
2
+ 4s+ 2 = 0

S
4
1 1 2
S
3
2 4
S
2
-1 2
S
1
8 0
S
0
2

, 8
) 1 (
) 2 )( 2 (
4
, 2
2
) 4 )( 1 (
2 b , 1 -
2
) 4 )( 1 (
1
1
2 1
=

=
= = = =
c
b


There are two sign changes in the first column, hence there are 2 roots with
positive real parts and the system represented by this characteristic equation is unstable
67 67
(b)Hurwitz stability criterion
a
0
s
n
+ a
1
s
n-1
+ a
2
s
n-2
+ .. a
n-1
s + a
n
= 0
....
...


3 2 1
4
3 2 1
2
7 5 3 1
1
6 4 2
c c c s
b b b s
a a a a s
a a a a s
n
n
n
o
n

D
1
= a
1
,
,
a a
a a

2 0
3 1
2
= D

3 1
4 2 0
5 3 1
3
a a 0
a a a
a a a
= D

4 2
5 3 1
6 4 2 0
7 5 3 1
4
0 0
0
a a a a
a a a a

a a
a a a
D =

The system is to stable, all determinants must be positive.
68 68
Example/ Check the stability of the given system by Routh and Hurwitz stability
criteria.

(D
4
+ 3 D
3
+6 D
2
+ 9D +12) y = (D
3
+ 5D
2
+ 3D+2) x

Routh Criteria

D
4
1 6 12
D
3
3 9 0
D
2
3 12
D
1
-3
69 69
Hurwitz Criteria
D
1
3 9 0 0
D
2
1 6 12 0
D
3
0 3 9 0
D
4
0 1 6 12
D
5
0 0 3 9

D
1
= 3 >0,
9
6 1
9 3

2
= = D
,
7 -
9 3 0
12 6 1
0 9 3

3
= = D
,
9 3 0 0
0 9 3 0
0 12 6 1
0 0 9 3

4
= = D
The system is unstable.
70 70
Tutorial No(9), No(11), No (12),No (14),No(15)
No. (9) (a) P
1
(s) = 1, P
2
(s) =
ST 1
1
+


P
1
P
2

X Y

P
1
P
2

X Y
(a) transfer function

ST 1
1
ST 1
1
1 P P
Y
X
2 1
+
=
+
= =
(b) Differential Equation
(1+ST) X = Y
X + TSX = Y
Tx + x = y
71 71
(c) Response
Assume y is unit step function and all initial conditions are zero y = 1
Tx + x = 1
x = 1 (1-e
-t/T
)
t
y
1
x
1
0

t
y
1

x
1
0
72 72
(e) Polar Plot
P(s) =
ST 1
1
+

P(j
e
) =
T j 1
1
e +

=
T j 1
1
e +

T j 1
T j 1
e
e

=
2
T) ( 1
T j 1
e
e
+

P(j
e
) =
2
T) ( 1
1
e +
- j
2
T) ( 1
T
e
e
+

73 73
When
e
= 0 P(j
e
) = 1 j0

e
=

P(j
e
) = 0 j0






e
=

e
=0
Imi
74 74
(b) P
1
(s) = 1, P
2
(s) =
ST 1
1
+


R

X
C
P
1

P
2


P
1
+ P
2

X Y
75 75
(a) Transfer function

ST 1
ST 2
ST 1
1
1 P P
Y
X
2 1
+
+
=
+
+ = + =

(b) Differential Equation

ST 1
ST 2
Y
X
+
+
=

(1+ST) X = (2+ST)Y
X + TSX = 2Y + TSY
Tx + x = Ty + 2y

76 76
(c) Response

ST 1
ST 2
Y
X
+
+
=
Y
If Assume Y is step function, Y =
S
1


|
.
|

\
|
+
=
+
=
+
+
=
S
T
1
T
T
S
2
ST 1
T
S
2
S
1
ST 1
ST 2
X

=
|
.
|

\
|
+

S
T
1
T
T
S
2

x = 2 - 1 e
-t /T

77 77
(e) Polar Plot
P(s) =
ST 1
ST 2
+
+
, P(j
e
) =
T j - 1
T j 1
T j 1
T j 2
e
e
e
e

+
+

=
2
2
T) ( 1
T j T) ( 2
e
e e
+
+ +

P(j
e
) =
2
2
T) ( 1
T) ( 2
e
e
+
+
- j
2
T) ( 1
T
e
e
+

When
e
= 0 P(j
e
) = 2 - j0

e
=

P(j
e
) = 1- j0

e
=
T
1
P(j
e
) =
2
3
- j
2
1

78 78

e
=

e
=0
Imi
3/2
2
1
Real
79 79
(c) P
1
(s) = 1, P
2
(s) =
ST 1
1
+


Y

X
C
P
1

P
2

P
1
- P
2

X
Y
80 80
(a) Transfer function

ST 1
ST
ST 1
1
1 P P
Y
X
2 1
+
=
+
= =


(b) Differential Equation

ST 1
ST
Y
X
+
=

(1+ST) X = TSY
X + TSX = TSY
Tx + x = Ty
81 81
(c) Response

ST 1
ST
Y
X
+
=
, X =
ST 1
ST
+
Y
If Assume Y is unit step function, Y =
S
1


|
.
|

\
|
+
=
|
.
|

\
|
+
=
+
=
+
=
S
T
1
1
S
T
1
T
ST 1
T
S
1
ST 1
ST
X
T

x = e
-t/T


t
y
1

x
1
0
t
82 82
(e) P(s) =
ST 1
ST
+
, P(je) =
T j 1
T j
e
e
+

P(je) =
T j 1
T j
e
e
+

T j 1
T j 1
e
e

=
2
2
T) ( 1
T) (
e
e
+
+ j
2
T) ( 1
T
e
e
+

When e = 0 P(je) = 0 + j0
e =
T
1
P(je) =
2
1
+ j
2
1

e = P(je) = 1 + j0






e=
T
1

Real
Imi
2
1

2
1

1