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ME 534 - 03 Stability (Rev. 1.2)
ME 534 - 03 Stability (Rev. 1.2)
Ou e–S
Stability
ab y Stabilityy
• Stability
y of Digital
g Systems
y • A very important property of a dynamic
– Internal Stability
– External Stability
system is its stability:
– Example – Internal stability
• Root Locus vs Time – External stability
Response
p
– First Order • IInternal
t l stability
t bilit is
i concerned d with
ith th
the
– Second Order responses of all internal variables (a.k.a
• Stability
St bilit TTests
t “ t t ”)
“states”).
– Jury Test
– Routh’s Criterion • External stability y studies the input-output
p p
• Example behaviour of a dynamic system.
Y ( s) Gc ( z )G p ( z ) B( z ) A( z ) = num{1 + Gc ( z )G p ( z )}
= = where
R( s) 1 + Gc ( z )G p ( z ) A( z ) A( z ) = a N z N + ... + a1 z + a0
Let s = σ + jω where j =
ˆ −1 N
⎡ Nr ⎤ ⎡ Nc ⎤
Hence, A( z ) =∑ a n z n = ⎢∏ ( z + ri )⎥ ⎢∏ ( z + pi + jci )( z + pi − jci )⎥
Since z =ˆ esT z = eσ T + jωT = eσ T ⋅ e jωT n =0 ⎣ i =42
1 1
4 434⎦ 1 ⎣ i =4
1
44442444443⎦
σT
z = e{ 14ω
(cos T4+2j4 sin4ω4T
3)
real poles complex conjugate poles
Radius
4 where N = Nr+2N
2Nc is called the system order
order.
D i t unit
Depicts it circle
i l
Chapter 3 ME 534 6 Chapter 3 ME 534 7
Solution – Response
p ((Cont’d)) Testing
g Stability
y
y(t)
0.045
x(t)
0.04
(t)
0.035 t
0
x(t) Linear Time
Time-
t
0.03
0 invariant System y*(t)
Ideal
For a unit impulse input, its output
esponse
Sampler y(0)
0.025 grows without a bound! y(T)
Impulse Re
y(2T)
T
0.02 t
0 T 2T
0.015
0.01
• To test the stability, a unit impulse is applied to
the system and its time response is observed.
0 005
0.005
0
• Let us assume that the impulse response is also
0 20 40 60 80 100 120
Time Index
sampled for sake of argument.
Chapter 3 ME 534 12 Chapter 3 ME 534 13
Time Response of a First Order Time Response vs. Root Locus of
CTS CTS
Let the transfer function of a first order system be
1 y(t) y(t) y(t)
G( s) =
s+a 1 1 1
1
Y ( s) = G( s) X ( s) = ⋅1 5 4 3 2 1
s+a
y(t) y(t)
Therefore, the time response becomes
1 1
y(t ) = L−1 {Y ( s)} = L−1 {G( s)} = e − at t t
1
5
j
t
y * (t ) = y( kT ) = e − akT 1
t
1 t
t
y*(t) 3
Re
Hence, its Z-transform
f leads to 1
5 4 3 2 1 t
Forced oscillations
1 z with f = 2/T are
Y ( z ) = Z {y( kT )} = = observed
b d iin thi
this y*(t) 2
Note that X(z) = 1. The corresponding discrete-time system has only y*(t) 1
-j
one pole at p1= e-aT. 1
= 0.56
= 0.38
= 0.2
=0
• If the complex
The transfer function of a second-order
conjugate poles are
C
system is expressed as
located alongg the
.
Const. n
can be quite complicated and tedious! where F(z) is the closed-loop transfer function. The coefficients of A’(s) is
y
used to form Routh’s array.
Chapter 3 ME 534 24 Chapter 3 ME 534 25
Example
p Example
p ((Cont’d))
(120s + 1)( 2s − 1)
Determine the stability of the following system (with T = 1 sec) using Thus
Thus,
Routh’s criterion:
F ' ( s) = −
Y (z) z + 0.9672 s( 0.0999
s
+ 1)
= F ( z ) = 0.0484
R( z ) ( z − 1)( z − 0.9048 ) The characteristic polynomial becomes