Estabilidad de Sistemas Dinmicos

Luis Snchez
Estabilidad de sistemas dinmicos
Estabilidad Absoluta

Es la caracterstica ms importante de los sistemas de control, se refiere a que si el

sistema es estable o inestable.

Bounded-input-bounded-output(BIBO) stability:
Definicin. Un sistema de control es estable si ante cualquier entrada acotada, el
sistema posee una salida acotada.

T.F. En lazo cerrado

La estabilidad es una caracterstica propia de cada sistema y no depende de las

entradas
 Usando Matlab
Para el ejemplo se va a partir de una descripcin de la planta en forma de funcin
de transferencia:

En Matlab las funciones de transferencia se introducen dando el par de polinomios

numerador denominador, adems El polinomio del denominador es el producto de
dos trminos. Para obtener el polinomio resultante se usa el producto de
convolucion (o de polinomios).

num = [0.2 0.3 1];

den1 = [1 0.4 1];
den2 = [1 0.5];
den = conv(den1,den2);
H=tf(num,den);
La respuesta ante un escaln a la entrada se puede analizar en
sistemas que tengan una descripcin en forma de funcin de
transferencia o una representacin en el espacio de estados,
generando un vector de tiempos y usando la funcin step.

t = [0:.3:15]'; t = [0:.3:15]'; t = [0:.3:15]';

y = step(H,t); y = step(num,den,t); step(H,t);
plot (t,y); plot (t,y);
La respuesta a una entrada impulso se puede obtener del mismo
modo, pero usando en este caso la funcin impulse.

impulse (num,den,t);
La respuesta del sistema a cualquier tipo de entrada tambin puede
obtenerse. Para ello es necesario tener la seal de entrada en un vector u,
que lgicamente deber tener la misma dimensin que el vector de
tiempos. A estos efectos se usa la funcin lsim. Por ejemplo para entrada
en rampa:
ramp = t;
y = lsim (num,den,ramp,t);
plot (t,y,t,ramp);
title ('Respuesta a una rampa');
xlabel ('tiempo(seg)');
 Usando Matlab
Determinar la respuesta de un escalar unitario de una funcin de trasferencia con
polos en los distintos cuadrantes del plano complejo

t = [0:0.2:20]';
num = [1];
den = poly([-1 -2 -4]);
ye = step (num,den,t);
plot (t,ye);
title ('Respuesta a un escalon unitario');
xlabel ('tiempo(seg)');
grid on
Estabilidad de sistemas dinmicos
Plano s
Estabilidad de sistemas dinmicos

Anlisis de Estabilidad en Laplace

La estabilidad de un sistema se puede determinar por la ubicacin de los polos de

lazo cerrado en el plano s. Si alguno de los polos de lazo cerrado de un sistema se
encuentra en el semiplano derecho el sistema es inestable.
 Mapa de polos y ceros
La funcin pzmap realiza la representacin grafica de la ubicacin
en el plano complejo de los polos (cruces) y los ceros (crculos)
del sistema. Por ejemplo, el siguiente cdigo Matlab:
>> sis=tf([1 8.5],[1 10 61])
>> pzmap(sis)
Polos en lazo cerrado

G(S)

H(s) = 1

>>numg=1; % Define numerator of G(s).

>>deng=conv([1 0],[2 3 2 3 2]); % Define
denominator of G(s).
>>G=tf(numg,deng); % Create G(s) object.
>>T=feedback(G,1) % Calculate closed-loop
% T(s) object.
>>poles=pole(T) % Find poles of T(s).
 LTI systems

Stability Conditions Location of poles

stable all poles in LHP

marginally stable simple poles on the jw-axis

and no poles in RHP

at least one simple pole in

unstable RHP or at least one multi-
order pole on the jw-axis
 Routh-Hurwitz stability criterion

All poles in left s- No poles in right

plane > s-plane

The criterion tests whether any of the roots of the

characteristic equation lie in the right half of the s-plane,
without actually calculating the roots.
Information about stability can be obtained directly from the
coefficients of the characteristic equation.
 Routh-Hurwitzs stability criterion

A necessary (but not sufficient) condition for stability:

(1) All the coefficients of the characteristic equation

have the same sign.
(2) None of the coefficients vanishes.

Consider the characteristic equation of a LTI system

D( s ) a0 s n a1 s n 1 ... an 1 s an 0, a0 0
Note 1: The above conditions are based on the laws of
algebra .

( s s1 )( s s2 )( s s3 ) 0 a 0 s 3
a1 s 2
a 2 s a3 0
s( s s2 )( s s3 ) s1 ( s s2 )( s s3 ) 0
s( s ( s2 s3 ) s s2 s3 ) s1 ( s ( s2 s3 ) s s2 s3 ) 0
2 2

s 3 ( s1 s2 s3 ) s 2 ( s1 s2 s1 s3 s2 s3 ) s s1 s2 s3 0
3 3 3
a2 a3
si s j 0 si s j sk 0
a1
si 0
a0 i 1 a0 i , j 1 a0 i , j , k 1
i j i j k

If all roots of the system characteristic equation have

negative real parts, all the coefficients have the same
sign
Note 2: These conditions are not sufficient.
 Rouths Tabulation
Consider the characteristic equation of a LTI system

D( s ) a0 s n a1 s n 1 ... an 1 s an 0, a0 0
sn a0 a2 a4 a6
s n 1 a1 a3 a5 a7
1 a0 a2 1 a1 a 3
s n2
b1 b2 b3 b4 b1 c1
a1 a1 a3 b1 b1 b2
s n 3 c1 c2 c3 c4
1 a0 a4 1 a1 a 5
b2 c
a1 a1 a 5 2 b1 b1 b3

s2 e1 e2 1 a0 a6 1 a1 a7
b3 c3
a1 a1 a7 b1 b1 b4
s1 f1
s0 g1
 Rouths Criterion

A necessary and sufficient condition for stability:

all the elements of the first column of the Routh

Tabulation are of the same sign.

The number of changes of signs in the elements of the

first column equals the number of roots in the right-half s-
plane.
Example
s 2 s 3s 4 s 5 0
4 3 2

s4 1 3 5
s3 2 4
2
s 1 5
s1 6 0
0
s 5
Therefore, the system is unstable and has two roots in the
right-half s-plane.
First-order: a0 s a1 0
If a0 and a1 have the same sign, the system is stable.
Second-order: a0 s a1 s a2 0
2

If a0 , a1 and a2 have the same sign, the system is stable.

Third-order:

a0 s a1 s a2 s a3 0
3 2

s3 a0 a2
s2 a1 a3 If a0,a1,a2,a3 are all positive
a0 a3 a1a2 and a1a2>a3a0,the system is
s1 stable.
a1
s0 a3
Special cases when applying
Rouths Tabulation
Special cases when applying Rouths Tabulation

Case 1: only the first element in one of the rows of Rouths

tabulation is zero

Solution: replace the zero with a small positive constant

and proceed as before by taking the limit as 0

s 4 3s 3 4s 2 12s 16 0 when 0
s4 1 4 16 12 48 48
12 0
s3 3 12
s2 0( ) 16 The system is unstable and
12 48 has two roots not in the left-
s1 0
half s-plane.
s0 16
 Case 2: an entire row of Rouths tabulation is zero.
Example The characteristic equation of a system is

s 4 2s 3 7 s 2 4s 10 0
Determine whether there are any roots on the imaginary axis or in the
RHP.
Indica:
Existe un polinomio divisor, que
divide exactamente al polinomio
caracterstico.
Este polinomio divisor es un
polinomio PAR y se obtienen de los
coeficientes del regln anterior al
regln con solo ceros.

E.C ( s 2)( s 2s 5)
2 2
Case 2: an entire row of Rouths tabulation is zero.

This indicates
There are complex conjugate pairs of roots that are mirror
images of each other with respect to the imaginary axis.

j j j

0 0 0

e.g. s1,2 1 e.g. s1,2 1 j1 e.g. s1,2 1 j

s3,4 1 j1 s3,4 2 j
Example The characteristic equation of a system is
s 5 3s 4 3s 3 9s 2 4s 12 0
Determine whether there are any roots on the imaginary axis or in the
RHP.
3 33 4
55
s
s 11
1 44
3 9 99 12
44
s
s 33 1212
33 Introducing an auxiliary equation:
s
s 12
12
0 0118 8 0 00
A( s ) 3s 9 s 12 0
4 2

s
s
22
9/2 dA 12(s)
Its derivative: 12 s 18s 0
3

11 ds
s
s 50 0
s
s
00
12
The sign in the first column changes once, so the system is unstable and there
is one root outside LHP.
Solving the auxiliary equation

A( s ) 3s 9 s 12 0
4 2

s 3s 4 ( s 1)( s 4) 0
4 2 2 2

s1, 2 1 s3,4 j 2

j A positive real
j2 root locates in
the RHP

0
1 1
j2
Example Dada la funcin de trasferencia siguiente determine el
numero de polos que hay en el semiplano derecho,
izquierdo y en el eje jw
 Application of Routh Tabulation
(1) Rouths tabulation can not only be used to determine the
stability of a system, but also the spread of its characteristic roots.
(2) For a control system with a regulator, Rouths tabulation can be
used to select parameter values so that the system is stable.

Example Determine the range of K so that the system is stable.

R( s) 10 Y (s)
K
s ( s 1)( s 2)

2
 R( s) 10 Y ( s)
K
s ( s 1)( s 2)

Characteristic equation:
1 Gl oop ( s ) 0
20k
1 0
s( s 1)( s 2)
Characteristic equation 20k
1 0
s( s 1)( s 2)

s 3s 2 s 20k 0
3 2

s3 1 2
s2 3 20k
3 2 20k
s1 0 6 - 20k 0 k 0.3
3
s0 20k k 0

So when 0 k 0.3 , the system is stable.

Exercise
Consider that a 3rd-order system has the characteristic equation
0.025s 3 0.325s 2 s k 0
Determine the range of k so that the system is stable.

Solution. Reformulate the characteristic equation as

s 3 13s 2 40s 40k 0

3
s 1 40
2
s 13 40k
13 40 40k
s 1
k 13
13
s 0
40k k 0
 Diseo de estabilidad usando Matlab
Encuentre el margen de ganancia K mxima, para el sistema que haga que el sistema
se estable

K=[1:1:2000]; % Define range of K from 1 to 2000 in

% steps of 1.
for n=1:length(K); % Set up length of DO LOOP to equal
dent=[1 18 77 K(n)]; % Define the denominator of T(s) for
poles=roots(dent); % Find the poles for the nth value of
r=real(poles) % Form a vector containing the real
if (r(1)>=0|r(2)>=0 |r(3)>=0)
break % Stop loop if rhp poles are found.
end % End if.
end
K = K(n-1)