Process Control Matlab Exercise No.

8
Stability Analysis of Dynamic Systems
1. Objective:
The activity aims to analyze the stability of a dynamic system.
2. Intended Learning Outcomes (ILOs):
The students shall be able to:
2.1 analyze the stability of a dynamic system.
3. Discussion:
When a system is unstable, the output of the system may be infinite even though the input to the
system was finite. This causes a number of practical problems. For instance, a robot arm controller that is
unstable may cause the robot to move dangerously. Also, systems that are unstable often incur a certain
amount of physical damage, which can become costly. Nonetheless, many systems are inherently unstable
- a fighter jet, for instance, or a rocket at liftoff, are examples of naturally unstable systems. Although we
can design controllers that stabilize the system, it is first important to understand what stability is, how it is
determined, and why it matters.
The system is assumed to be linear, and can be represented either by a set of transfer functions.
Linear systems have an associated characteristic polynomial, and this polynomial tells us a great deal
about the stability of the system. Negativeness of any coefficient of a characteristic polynomial indicates
that the system is either unstable or at most marginally stable. If any coefficient is zero/negative then we
can say that the system is unstable. It is important to note, though, that even if all of the coefficients of the
characteristic polynomial are positive the system may still be unstable.
When the poles of the closed-loop transfer function of a given system are located in the right-half of
the S-plane (RHP), the system becomes unstable. When the poles of the system are located in the left-half
plane (LHP) and the system is not improper, the system is shown to be stable. A number of tests deal with
this particular facet of stability: The Routh-Hurwitz Criteria, the Root-Locus, and the Nyquist Stability
Criteria all test whether there are poles of the transfer function in the RHP.
A dynamic system has one of the following stability properties:
• Asymptotically stable system. The behavior after an impulse is shown below:
 • Marginally stable system. The behavior after an impulse is shown below:

• Unstable system. The behavior after an impulse is shown below.

The poles is important when analysis the stability of a system. The figure below gives an overview of the
poles impact on the stability of a system:

Thus, we have the following:

Asymptotically stable system:

Each of the poles of the transfer function lies strictly in the
left half plane (has strictly negative real part).
Marginally stable system:
One or more poles lies on the imaginary axis (have real part
equal zero), and all these poles are distinct. Besides, no
poles lie in the right half plane.

Unstable system:
At least one pole lies in the right half plane (has real part
greater than zero).

Or: There are multiple and coincident poles on the imaginary

axis.

4. Resources:
Matlab
5. Procedure:
1. For the transfer functions as shown below, determine its poles, pzplot and stability properties as
asymptotically stable system, marginally stable system and unstable system.
a

b
 c

2. Given the following feedback system:

The transfer function of the process is :

The transfer function for the measurement/sensor is:

The transfer function for the controller is:

Use three (3) different values for Kp

Determine poles , pzplot, and step response for the feeback system. Is the system asymptotically stable,
marginally stable system or unstable (for the 3 different values of Kp) ?
3. Given the following control system:

The transfer function for the process (including measurement) is:

The transfer function for the controller is:

Use three (3) different values for Kp

Define the stability properties of this process (is the process stable or not?).
4. Determine the stability properties of each of the following system
4a

4b
4c

4d

4e

4f Consider the ff. feedback control system:

Where : H1 =

H2 =

H3 =

G1 =
 G2 =

G3 =

G4 =
Hint:

4g Consider the ff. feedback control system:

where :
H2 = 2
H3 = 3

G1 =

G2 =

G3 =
4h Given the block diagram:

where: b1 = 1
b2 = 2
b3 = 3
a1 = 3
a2 = 2
a3 = 1
Course: ECE 006 Feedback and Control Systems Laboratory Exercise No.: 8
Group No.: N/A Section: CH42FB1
Group Members: Date Performed: August 19, 2017
Percil, Queenie Rose I. Date Submitted: August 26, 2017
Instructor:
Engr. Crispulo Maranan
6. Data and Results:

Procedure 1a

Transfer Function

Poles P = -1
pzplot

Stability Properties Asymptotically Stable System

Procedure 1b

Transfer Function

Poles P=0
 pzplot

Stability Properties Unstable System

Procedure 1c

Transfer Function

Poles P = 0, 0
pzplot

Stability Properties Unstable System

 Procedure 1d

Transfer Function

Poles P=1
pzplot

Stability Properties Unstable System

Procedure 2 for Kp= 1

Transfer function of the feedback system H(s) =

1
--------------------------
s^3 + 2 s^2 + s + 1

Poles p=

-1.7549 + 0.0000i
-0.1226 + 0.7449i
-0.1226 - 0.7449i
 Pzplot

Step Response

Stability Properties Asymptotically Stable System

Procedure 2 for Kp= 2

Transfer function of the feedback system H(s) =

2
---------------------------
s^3 + 2 s^2 + s + 2

Poles p=

-2.0000 + 0.0000i
0.0000 + 1.0000i
0.0000 - 1.0000i
 Pzplot

Step Response

Stability Properties Marginally Stable System

Procedure 2 for Kp= 4

Transfer function of the feedback system H(s) =

4
----------------------------
s^3 + 2 s^2 + s + 4

Poles P=

-2.3146 + 0.0000i
0.1573 + 1.3052i
0.1573 - 1.3052i
 Pzplot

Step Response

Stability Properties Unstable System

Procedure 3 for Kp= 1

Transfer function of the feedback system H(s) =

2
-----
s+2

Poles p=

-2
 Pzplot

Step Response

Stability Properties Asymptotically Stable System

Procedure 3 for Kp= 2

Transfer function of the feedback system H(s) =

4
-----
s+4

Poles p=

-4
 Pzplot

Step Response

Stability Properties Asymptotically Stable System

Procedure 3 for Kp= 4

Transfer function of the feedback system H(s) =

8
-----
s+8

Poles p=

-8
 Pzplot

Step Response

Stability Properties Asymptotically Stable System

Procedure 4a

Transfer function of the overall system SYS =

s^2 + 2 s + 2
------------------------------
s^3 + 2 s^2 + 2 s + 1
Poles p=

-1.0000 + 0.0000i
-0.5000 + 0.8660i
-0.5000 - 0.8660i
 Pzplot

Step Response

Stability Properties Asymptotically Stable System

Procedure 4b

Transfer function of the overall system SYS =

s+1
----------------------------
s^3 + 2 s^2 + 2 s + 2
Poles p=

-1.5437 + 0.0000i
-0.2282 + 1.1151i
-0.2282 - 1.1151i
 Pzplot

Step Response

Stability Properties Asymptotically Stable System

Procedure 4c

Transfer function of the overall system SYS =

3 s^2 - 9 s - 2
----------------------
9 s^3 - s

Poles p=

0
0.3333
-0.3333
 Pzplot

Step Response

Stability Properties Unstable System

Procedure 4d

Transfer function of the overall system SYS =

s+1
------------------------
10 s^2 + 11 s + 2

Poles p=

-0.8702
-0.2298
 Pzplot

Step Response

Stability Properties Asymptotically Stable System

Procedure 4e

Transfer function of the overall system SYS =

1
---------------
10 s + 2

Poles p=

-0.2000
 Pzplot

Step Response

Stability Properties Asymptotically Stable System

Procedure 4f

Transfer function H(s) =

of the overall 2 s^5 - 4 s^4 - 28 s^3 + 52 s^2 + 110 s -84
system ------------------------------------------------------------------------
s^7 - 4 s^6 - 12 s^5 + 48 s^4 + 35 s^3 - 106 s^2 -108 s + 158
Poles p=

-3.0996 + 0.0000i
3.7373 + 0.0000i
3.2880 + 0.0000i
-1.2974 + 0.8311i
-1.2974 - 0.8311i
1.5179 + 0.0000i
1.1512 + 0.0000i
 Pzplot

Step Response

Stability Unstable System

Properties

Procedure 4g
 Transfer H(s) =
function of the 2 s^2 - 9 s + 9
overall system --------------------
s^3 - 14 s + 18
Poles p=

-4.2682
2.7146
1.5535
Pzplot
 Step
Response

Stability Unstable System

Properties

Procedure 4h

Transfer H(s) =
function of the 6 s^2 + 9 s + 3
overall system ---------------------------
s^3 + 7 s^2 + 5 s + 1
Poles p=

-6.2223 + 0.0000i
-0.3889 + 0.0974i
-0.3889 - 0.0974i
 Pzplot

Step Response

Stability Asymptotically Stable System

Properties

7. Conclusion:
I therefore conclude that Matlab is an essential part of our technological advancement. Because with this
application, I was able to determine the poles and zeros, and the step responses of the transfer function
and from that, I was able to analyze the stability of a dynamic system be it asymptotically, marginally or an
unstable system. With the use of Matlab complex calculations and developing a graphical representation
would be a lot easier, thus this is also essential in the course Feedback and Control System.
8. Problems;

9. Assessment (Rubric for Laboratory Performance):

 TECHNOLOGICAL INSTITUTE OF THE PHILIPPINES
RUBRIC FOR LABORATORY PERFORMANCE

CRITERIA BEGINNER ACCEPTABLE PROFICIENT SCORE

1 2 3

I. Laboratory Skills

Manipulative Members do not demonstrate Members occasionally Members always demonstrate

Skills needed skills. demonstrate needed skills. needed skills.

Members are able to set-up

Members are unable to set-up Members are able to set-up
Experimental Set-up the material with minimum
the materials. the materials with supervision.
supervision.
Members occasionally
Member do not demonstrate Members always demonstrate
Process Skills demonstrate targeted process
targeted process skills. targeted process skills.
skills.
Members do not follow safety Members follow safety Members follow safety
Safety Precautions
precautions. precautions most of the time. precautions at all times.

II. Work Habits

Time Management / Members finish ahead of time

Members do not finish on time Members finish on time with
Conduct of with complete data and time
with incomplete data. incomplete data.
Experiment to revise data.
Members do not know their Members have defined Members are on tasks and
tasks and have no defined responsibilities most of the have defined responsibilities
Cooperative and
responsibilities. Group time. Group conflicts are at all times. Group conflicts
Teamwork
conflicts have to be settled by cooperatively managed most are cooperatively managed at
the teacher. of the time. all times.
Clean and orderly workplace Clean and orderly workplace
Neatness and Messy workplace during and
with occasional mess during at all times during and after
Orderliness after the experiment.
and after the experiment. the experiment.

Ability to do Members require supervision Members require occasional Members do not need to be
independent work by the teacher. supervision by the teacher. supervised by the teacher.

Other Comments / Observations:

TOTAL SCORE

RATING = ( ) x 100%

Evaluated by:

______________________________________
Printed Name and Signature of Faculty Member Date: ___________________________