A 2D numerical simulation of the transition from stable positive glow corona to streamers in coaxial cylindrical configuration is presented. The hydrodynamic model with several convection-dominated continuity equations together with Poisson equation are solved with consideration of the ionization layer. The transition from a stable positive glow corona produced under a DC voltage to streamers is investigated under a sudden change of the applied voltage. The critical rate of rise of voltage required for the transition from positive glow to streamer corona is evaluated with a voltage ramp. By introducing either physical or numerical instabilities into the model, streamers with filamentary structures are observed, which produce a sudden increase of the discharge current by more than two orders of magnitude. It is also found that the surface electric field of the corona-generating conductor deviates from the onset electric field, casting doubts about the validity of Kaptzov's approximation to evaluate the transition from stable glow to streamers.