9.1 Routh's stability Criterion About Stability: (P145. Section 1) 9.1.1 Define on the Stability of Closed-loop System When the transfer function of system is q(s), the output C(s)=中(s)R(S)= G(s) R(S) KM(S R(s) 1+G(s)H(s) S-S Suppose C(s) KM(S-3 r()=(),R(S)=1 S-S S-S9.1 Routh’s Stability Criterion About Stability: ( P145. Section 1) 9.1.1 Define on the Stability of Closed-loop System: When the transfer function of system is Ф(s), the output is: ( ) ( ) ( ) ( ) 1 ( ) ( ) ( ) ( ) ( ) ( ) 1 R s s s K M s R s G s H s G s C s Φ s R s i n i  − = + = = = Suppose r(t) =  (t), R(s) =1  = = − =  −  = n i i i i n i s s c s s KM s C s 1 1 ( ) ( ) ( )