6 Stability Analysis

6.1 Introduction
A stable system is one that will have a bounded response for all possible bounded inputs A linear
system is stable if and only if all the poles of its transfer function are located on the left of the jω
axis
It is not necessary to determine the actual location of the poles of the transfer function for investi-
gating the stability of a linear system. We only need to find out if the number of poles on the right
of the s-plane is zero or not

Stability Criterion
Simple criterion are used to judge the location the poles of a characteristics equation with respect
to the left or right of the s-plane without actually solving the equation They are;

1. Hurwitz Stability Criterion

2. Routh’s Stability Criterion

6.2 Hurwitz Stability Criterion

The transfer function

C (s) b sm + b1 sm−1 + · · · + bm N (s)

= 0 =
R (s) n
a0 s + a1 sn−1 + · · · + bn D (s)

The necessary and sufficient condition for the polynomial D (s) = a0 sn + a1 sn−1 + · · · + bn = 0
to have all roots on the left half of the s-plane is that the n sub-determinants of the Hurwitz
determinant H should be positive where

a1 a3 a5 − − −
a0 a2 a4 − − −
0 a1 a3 − − −
H= 0 a0 a2 − − −
− − − − − −
− − − − − −
0 0 0 − − an

D1 = |a1 |

a1 a3
D2 =
a0 a2

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 a1 a3 a5
D3 = a0 a2 a4
0 a1 a3

Dn = H

For a stable system, all the sub-determinants should be positive

Example 6.1
Check for stability of the system whose characteristic equation is

s3 + 8s2 + 14s + 24 = 0

Solution

a1 a3 a5
H = a0 a2 a4
0 a1 a3

8 24 0
D3 = 1 14 0 = 2112
0 8 24

D1 = 8 = 8

8 24
D2 = = 88
1 14
D1 , D2 and D3 are positive, hence the system is stable

6.3 Routh’s Stability Criterion

For the transfer function

C (s) b sm + b1 sm−1 + · · · + bm N (s)

= 0 =
R (s) n
a0 s + a1 sn−1 + · · · + bn D (s)

The coefficients of D (s) are arranged in an array called Routh’s array as shown below

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 sn a0 a2 a4 a6
sn−1 a1 a3 a5 a7
sn−2 b1 b2 b3
sn−3 c1 c2 c3
| |
| |
| |
| |
s0 an
The first 2 rows are obtained from the coefficients of D (s).
Elements of the following rows are obtained as below

a a − a0 a3
b1 = 1 2
a1

a 4 − a0 a5
b2 = 1
a1
a a − a0 a7
b3 = 1 6
a1

b a − a1 b2
c1 = 1 3
b1

b a − a1 b3
c2 = 1 5
b1

b a
c3 = 1 7
b1

and so on
Each column will reduce by one as we move down the array. This process is obtained till s0 row is
obtained. The coefficient will be an for this row

Routh’s Criterion

The necessary and sufficient condition for a system to be stable is that all the terms in the first
column of the Routh’s array should have the same sign.
There should be no any sign change in the first column. When there are sign changes in the first
column, then the system is unstable. There are routes on the right hand of the s-plane.

The number of sign changes equals to the number of roots on the right hand side of the s-plane.

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Example 6.2
Check for stability of the system whose characteristic equation is

D (s) = s4 + 5s3 + 20s2 + 40s + 50 = 0

Solution

s4 1 20 50
s3 5 40 0
s2 12 50 0
s1 230 0 0
12
s0 50 0 0

No sign changes in the first column hence no roots on the right half of the s-plane and therefore
the system is stable.

Example 6.3
Check for stability of the system whose characteristic equation is

D (s) = s3 + s2 + 2s + 24 = 0

Solution

s3 1 2
s2 1 24
s1 −22
s0 24

There are two sign changes in the first column hence two roots on the right half of the s-plane and
therefore the system is unstable.

Special cases

1. If the first element of any row is zero and the rest are non zeros
The next row cannot be formed as division by zero will take place. There are two methods
of this problem

(a) Method 1
It is replaced by a small positive number . The sign of the element of the first column
is then examined as

Example 6.4

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 Check for stability of the system whose characteristic equation is

D (s) = s5 + s4 + 2s3 + 2s2 + 3s + 5 = 0

Solution

s5 1 2 3
s4 1 2 5
s3 0 () −2 0
s2 2+2 5

s1 −4−4−52
2+2
s0 5

Let  → 0 from the right side

2 + 2 2
lim = 2 + lim = +∞
→0  →0 
No sign changes

−4 − 4 − 52
lim = −2
→0 2 + 2
Sign changes
There are two sign in the first column hence two roots on the right half of the s-plane
and therefore the system is unstable.
(b) Method 2
1 and complete the Routh’s test for z.
Replace s with Z

Example 6.5
Check for stability of the system whose characteristic equation is

D (s) = s5 + s4 + 2s3 + 2s2 + 3s + 5 = 0

Solution
Replacing s with z1

 5  4  3  2  
1 1 1 1 1
+ + +2 +3 +5=0
Z Z Z Z Z

5Z 5 + 3Z 4 + 2Z 3 + 2Z 2 + Z + 1 = 0

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 Z5 5 2 1
Z4 3 2 1
Z3 − 43 − 23
Z2 1 1
2
Z1 2
Z0 1

There are two sign in the first column hence two roots on the right half of the s-plane
and therefore the system is unstable.

2. When all elements in any one row are zeros

(a) Method 1
Form an auxiliary equation with the help of the coefficients of the row just above the
row of zeros
Take the derivatives of this equation and replace its coefficients in the present row of
zeros. Proceed with the Routh test

Example 6.6
Check for stability of the system whose characteristic equation is

D (s) = s6 + 2s5 + 8s4 + 12s + 20s2 + 16s + 16 = 0

Solution

s6 1 8 20 16
s5 2 12 16 0
s4 2 12 16
s3 0 0 0

s3 row is zero
The auxiliary equation for s4 row is

A (s) = 2s4 + 12s2 + 16

dA
= 8s3 + 24s
dS
Completed array

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 s6 1 8 20 16
s5 2 12 16 0
s4 2 12 16
s3 8 24 0
s2 6 16
s1 2.67
s0 16

No sign change on the first column hence the system may be stable

Solving for auxiliary equation

A (s) = 2s4 + 12s2 + 16 = 0

Let s2 = y

2y 2 + 12y + 16 = 0

y = −4 and y = −2
√
s = ±j2 and s = ±j 2

Non repeated roots on the jω axis give marginally stable system.

(b) Method 2
Form an auxiliary polynomial from the preceding row. The auxiliary polynomial is a
factor of the characteristic polynomial.
Obtain the number of right half plane roots in the auxiliary polynomial
Divide the characteristic polynomial by the auxiliary polynomial and obtain the number
of right half plane roots in the polynomial obtained.
The number of roots of the characteristic polynomial in the right half of the s-plane is
the sum of the two obtained above

Example 6.7
Check for stability of the system whose characteristic equation is

D (s) = s6 + 2s5 + 8s4 + 12s3 + 20s2 + 16s + 16 = 0

Solution
s3 row is zero
The auxiliary equation for s4 row is

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 A (s) = 2s4 + 12s2 + 16 = 0s

√
s = ±j2 and s = ±j 2

Two pairs of roots on the imaginary axis

With D (s) divided by A (s)

Q (s) = s2 + 2s + 2 = 0

Routh array for Q (s)

s2 1 2
s1 2 0
s0 2

No sign change in the first column

All roots of D (s) are on the left half of the s-plane with 2 pairs on the imaginary axis.
The system is therefore marginally stable

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