《控制工程基础》第6章 线性反馈系统的稳定性 第7章 根轨迹法 第8章 频率响应方法-英文教学课件（非AI生成）.ppt

Ch6TheStabilityofLinearFeedbackSystemsTheconceptofstabilityTheRouth-HurwitzstabilitycriterionTherelativestability1

6.1TheconceptofstabilityAstablesystemisadynamicsystemwithaboundedoutputtoaboundedinput(BIBO).Theissueofensuringthestabilityofaclosed-loopfeedbacksystemiscentraltocontrolsystemdesign.Anunstableclosed-loopsystemisgenerallyofnopracticalvalue.absolutestability,relativestability2

Absolutestability:Wecansaythataclosed-loopfeedbacksystemiseitherstableoritisnotstable.Thistypeofstable/notstablecharacterizationisreferredtoasabsolutestability.Relativestability:Giventhataclosed-loopsystemisstable,wecanfurthercharacterizethedegreeofstability.Thisisreferredtoasrelativestability.3

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6.2TheRouth-Hurwitzstabilitycriterion6

where7

Anecessaryandsufficientconditionforafeedbacksystemtobestableisthatallthepolesofthesystemtransferfunctionhavenegativerealparts.8

Anecessarycondition:Allthecoefficientsofthepolynomialmusthavethesamesignandbenonzeroifalltherootsareinleft-handplane(LHP).Thecharacteristicequationiswrittenas9

HurwitzandRouthpublishedindependentlyamethodofinvestigatingthestabilityofalinearsystem.Thenumberofrootsofq(s)withpositiverealpartsisequaltothenumberofchangesinsignofthefirstcolumnoftheRoutharray.Routh-Hurwitzstabilitycriterion10

CASE1Noelementinthefirstcolumniszero.CASE2Zerointhefirstcolumnwhilesomeotherelementsofrowcontainingazerointhefirstcolumnarenonzero.CASE3Zerosinthefirstcolumn,andotherelementsoftherowcontainingthezeroarealsozero.11

ConsiderthecharacteristicpolynomialTheRoutharrayis12

Case3ConsiderthecharacteristicpolynomialTheRoutharrayisTheauxiliarypolynomial13

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Designexample：weldingcontrol15

6.3TherelativestabilityThere