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Contents

Control Systems

Introduction

Open Loop Systems Closed Loop Systems Control System Components Transfer Function Block Diagram Basics Block Diagram Reduction Signal Flow Graph Construction Mason Gain Formula

Time Domain Analysis

Test Input Signals First Order System Response Second Order System Parameters Second Order Underdamped Response Second Order Overdamped Response Second Order Critically Damped Response Time Domain Specifications System Type Number Steady State Error Steady State Error Improvement Dominant Poles

Stability Analysis

BIBO Stability Routh-Hurwitz Criterion Routh Array Special Case Zero Element Routh Array Special Case Zero Row Root Locus Concept Root Locus Construction Rules Root Locus Breakaway Points Root Locus Angle of Departure Root Locus and Stability Complementary Root Locus

Frequency Response

Frequency Response Concept Bode Plot Construction Bode Plot of First Order System Bode Plot of Second Order System Gain Margin Phase Margin Gain and Phase Margin from Bode Polar Plot Nyquist Plot Construction Nyquist Stability Criterion Nichols Chart All Pass and Minimum Phase Systems

Compensators

Lead Compensator Design Lag Compensator Design Lead-Lag Compensator P Controller PI Controller PD Controller PID Controller Ziegler-Nichols Tuning

State Space

State Variables State Space Representation State Space from Transfer Function Transfer Function from State Space State Transition Matrix Controllability Observability State Feedback Control Observer Design Diagonalization

Digital Control

Sampled Data Systems Z-Domain Analysis Digital PID Controller Stability in Z-Domain Bilinear Transformation w-domain

Other Topics

Other Subjects

Analog Electronics Digital Electronics Signals & Systems Electromagnetic Theory Digital Communication Analog Communication Network Analysis Microprocessors VLSI Design Verilog HDL Power Electronics Embedded Systems DSP Electronic Devices

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2 of 10 articles

Routh-Hurwitz Criterion

Routh array construction, necessary and sufficient conditions.

Updated: 19 March 2026

5 min read

#Control Systems

Routh-Hurwitz Criterion Quiz

Test your ability to construct the Routh array and determine closed-loop stability without computing roots.

Question 1 of 3

Q1.The characteristic equation of a system is s^4 + 2s^3 + 3s^2 + 4s + 5 = 0. How many sign changes occur in the first column of the Routh array?

Related Articles

Routh Array Special Case Zero Row

Auxiliary polynomial, imaginary axis poles.

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Nyquist Stability Criterion

N = P - Z, encirclements of -1 point.

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Root Locus and Stability

Gain margin from root locus, critical gain.

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Root Locus Construction Rules

Number of branches, symmetry, asymptotes, angles.

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Root Locus Concept

Locus of closed-loop poles as gain K varies.

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Routh Array Special Case Zero Element