International Journal of Applied Research and Studies (iJARS)

ISSN: 2278-9480 Volume 2, Issue 4 (April- 2013)

www.ijars.in

Review Paper
Certain Algebraic Methods for the Stability Analysis of
Differential Delay Systems

Authors:
1
Dr. S.N.Sivanandam, 2K.Sreekala*
Address For correspondence:

Professor Emeritus, Computer Science Engineering, Karpagam Institute of Technology, Coimbatore, India
Electrical and Electronics Engineering, MET’S School of Engineering, Mala, Trissur, India

Abstract— The objective of this paper is to formulate certain system; this algebraic test is simple in application compared to
criteria to analyze stability of complex polynomials that arise any other procedure and further it can also be used for
in engineering systems. In certain class of applications, like parameter design. Thus the Routh stability criterion is unique in
time-delay systems , stability can be analyzed with the help of the study of system stability. When the characteristic equation
complex polynomials. Here two different algebraic schemes C(s)= 0 has real coefficient, then the application of Routh’s
are formulated to handle the complex polynomials for Stability criterion becomes direct and straight forward; if it has
analyzing system stability. In both the schemes, Routh-like complex coefficients, then it is not possible to apply for
table is developed and the elements in the first column are stability study. If needed, the given C(s) =0 with complex
coefficients can be multiplied by its conjugates and the
utilized to evolve the stability results termed as Sign Pair
transformed equation T(s) = C(s) x C*(s) =0, can be handled
Criterion(SPC). In the proposed first scheme , the first two
by Routh’s test, but the computational work load will be more
rows are formed directly using complex coefficients while in in this procedure. In general many schemes are available for
the second scheme , the real and imaginary parts of the given handling complex polynomial each having its own merits and
complex polynomial are separated to form the two rows of application [4]-[10].
Routh –like table. These two criteria are very convenient
compared to other available algebraic procedures for analysis Many important types of engineering system, viz , thermal
of stability since they are deduced in line with the classical process, distillation process, space control systems, machine
Routh’s table. tool chattering as well as physical and biological systems [11]-
[16] involve time-delays and hence governed by differential
Keywords-complex polynomials; stability analysis; Routh equations whose terms are computed at separate finite time
–like table; time delay systems; sign pair criterion I and II. intervals. This equation represents the system known as
differential difference equations. Sometimes, time-delay may
I. INTRODUCTION also be referred as transportation lag. In this chapter, the above
types of systems are dealt for stability analysis with the usage
Any system which is useful to human kind should possess
of the proposed stability criteria SPC-1 and SPC-II [17], [18].
the basic property known as stability. The stability of any
system indicates its ability to find a condition of static In this paper, the procedure utilized in the formulation of
equilibrium after it has been disturbed. Any time-delay direct Routh’s test for handling the n-th degree characteristic
component existing in the system may degrade the equation with real coefficients is extended suitably with
performance of the system thus weakening the stability complex coefficients. For instance let the n-th degree C(s)=0
property. with complex coefficients be
The stability problem of time–delays in various engineering C(s) = sn +(a1+ja2)s n-1 + (a3+ja4)s n-2 +……+ (ak + jak+1) = 0 (1)
system has been analysed by Olgac and Sipahi [1]. Edward
John Routh provided a numerical technique for determining the Where a1, a2, a3, a4 …. are real numbers.
distribution of roots of a given characteristics equation in the s
-plane [2],[3]. Routh test is still now used as a basic scheme for [email protected] * Corresponding Author Email-Id
analysis of stability in a linear time – invariant continuous

Manuscript Id: iJARS/447 1

International Journal of Applied Research and Studies (iJARS)
ISSN: 2278-9480 Volume 2, Issue 4 (April- 2013)
www.ijars.in

The aim of this paper is to formulate two Routh – like (6)

tables and propose two stability criteria ,viz; Sign Pair
Criterion-1 (SPC -1) and Sign Pair Criterion -II (SPC -II). The equation (6) is generally irrational (or) transcendental
in terms of exponential terms. The stability analysis of certain
In the first approach, using the coefficient of equation (1), types of delay systems are dealt in the following sections using
the first – two rows are formed and the Routh multiplication SPC-1 and SPC-II.
rule is used for computing the remaining elements in the table
which is given below; utilizing the elements in the first column III. STABILITY ANALYSIS OF FIRST-ORDER DELAY
of this table, SPC-1 is proposed for stability study. It is to be SYSTEM:
noted that in this table, if imaginary terms are all zeros, the
The characteristic equation for a first order system may be
direct Routh’s Criterion is applicable for real a polynomial; this
chosen as
is the main merit of this scheme.
The above two criteria, SPC – I and SPC - II are suggested
to handle the equation (1) which generally arises in the study of Using discrete variable,
time-delay systems[13]. Both the proposed SPC-I and SPC -II
are illustrated with examples including design problem, further the following equation is formed:
to show the merits of the two elements.
(7)
II. TIME DELAY MODELS Further using and simplifying,
Time delay is very often encountered in various technical
systems, such as electric, pneumatic and hydraulic networks, (8)
chemical processes, long transmission lines, robotics, thermal The first form of Routh-like table is formed:
process, distillation process, space control systems , machine
tool chattering etc. The existence of pure time lag, regardless if 1 -jk sinθ
it is present in the control or/and state, may cause undesirable k cosθ
system transient response or even instability.
Since the degree of s=1, the pair P1 = (1, k cos⁡θ ) should
A simple pure time-delay system is shown in Fig.5.1. satisfy SPC-1. It can be inferred that k cosθ > 0
This gives k > 0 and cosθ >0;

Pure x(t)
Delay Where m = 0, 1, 2, . . .
τy(t) For a choice of m= 0, the critical values may be obtained:
Fig .5.1 Time-delay element with τ θc = π/2 (or) ωc c= π/2
(Where τ is in seconds) For applying SPC-II, the second form of Routh-like table is
Due to this delay, the input will be delayed and the output is given below:

y(t) = x(t-τ), t > τ (2) 0 k cosθ

Applying Laplace transformation to the above equation 1 -k sinθ

k cosθ

(3)
This table also provides the pair P1=(1, k cos⁡θ ) and the
Thus, the transfer function for the system shown in Fig.5.1 is
above result obtain using SPC-1 reflects here also.
(4) Estimation of k:
Employing bilinear transformation

In general, the characteristic equation of a first-order delay along with s = jω, the characteristic equation is
system may be written as [12]. modified for r-domain as,
(5) (9)
However, the characteristic equation may be depicted in a With r = jΩ, the real and imaginary parts of C (jΩ, jω) =0 are
general notation as entered in the second form of Routh-like table:

Manuscript Id: iJARS/447 2

International Journal of Applied Research and Studies (iJARS)
ISSN: 2278-9480 Volume 2, Issue 4 (April- 2013)
www.ijars.in

The Routh-like table is formed as

-ω -k
k ω
-ω

The pair P1 = [k, ] should satisfy SPC-II. If so,

ω
k>0 ,ω2 > k2 (or) ω > k .
Hence it is inferred that k < ω
If τ = 1 , the critical value of k is achieved as Since the degree of Ω = 1, the first pair is used for
ascertaining stability. From this according to SPC-II , it is
kc= π/2 inferred that
This result is in agreement with that given in [3]. k < ω2 , For a choice of τ=1,
IV. STABILITY ANALYSIS OF SECOND-ORDER DELAY the value of k < (π/2)2.
SYSTEM:
A. Example 1
B. Example 2
Let a second degree equation with a delay be
(10)
Let (13)
The first form of Routh-like table is as shown below.
= (14)
Where K > 0 and =ωτ . (τ→ time delay in seconds).
1 j0 k cosθ -jk sinθ
For the above C(s) = 0, the first form of Routh-like table is
1 j0 0 0 formed for a choice of = π/6 and with a simplification the
α k cosθ -jk sinθ table is provided below:
(-(k cosθ)/α)
1 j√3 2K
For a choice of α = j β, ( β is very small positive value), from √3 j1 0
the pair P2= (j β, ((jk cos⁡θ)/β)) it can be inferred that
j1/√3 K
k cosθ>0 Hence , k > 0 and
j(1+3K)
cos⁡θ>0, θ=(2m+1)π⁄2
For a choice of m=0, the critical value, θc= π/2
The pairs P1 = (1,√3) and P2 = (j1/√3, j(1+3K)) should
(or) ωc c = π/2
satisfy SPC-1.It is inferred that for K=0, the critical stability is
ascertained since one root exists at origin which is observed
For a choice of τc=1, the critical value for ωc= π/2 from C(s) =0 formation of the second form of Routh –like
To apply SPC-II, the second Routh-like table utilized as shown table and with the application of SPC-2,it is found that K ≤ 1.
below: Thus for stability the following range for K may be used :
With the characteristic equation is formed as 0 < K ≤ 1.

(11) V. STABILITY ANALYSIS OF THIRD-ORDER DELAY

SYSTEM:
Let the characteristic equation be
With r = jΩ and s = j ω, and with a simplification,
(15)
C(ω,Ω)=
For a choice of θ = π/3, the first form of Routh-like is
(12) developed after simplification:

Manuscript Id: iJARS/447 3

International Journal of Applied Research and Studies (iJARS)
ISSN: 2278-9480 Volume 2, Issue 4 (April- 2013)
www.ijars.in

5.4. Summary:
1 j√3 5 In this chapter, the stability investigation of certain
types of differential-delay systems represented in the form of
1 -j√3 0 their respective characteristic equations have been performed
with the help of the proposed SPC-1 and SPC-II. The
j2√3 5
simultaneous application of SPC-1 and SPC-II utilized in the
-j0.5/√3 0 case of design problems. The proposed algebraic criteria are
simple and direct in application compared to other schemes
5 given in [11]-[16].
0

REFERENCES
The three pairs obtained from the first column are:
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3
I(ω)= (-0.5ω - √3/2 ω ) 2
[7] Benidir.M.and picinbono, B. “The Extended Routh’s Table with
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√3 0 0
[16] Stark,L.“Stability, Oscillations, and Noise in the Human Pupil
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[18] S.N.Sivanandam and K.Sreekala, “Modified Routh’s Table for the
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Manuscript Id: iJARS/447 4