Intuitive Insights into Systems behaviours

(Stability, Time constant and Resonance)

 System Stability : Two types
1) Internal (Asymptotic) stability
2) BIBO Stability (External stability)

Eg: Right circular cone ----> has 3 equilibrium states

I. Circular base stable equilibrium
II. On its side Neutral equilibrium
III. Apex Unstable equilibrium

 For BIBO stability,

The system is said to be (BIBO) stable if every bounded i input
produces a bounded output.
To find the stability condition for LTI systems with impulse
response h(t) / h[n], suppose we have a bounded input x(t) / x[n]
such that,
|𝑥(𝑡)| < 𝐵 < ∞ for all t OR |𝑥[𝑛]| < 𝐵 < ∞ for
all n.
Then we can use the input output relationship of the continuous
time / discrete time LTI systems to express the magnitude of the
output as
|y(t)| = |h(t) * x(t)| OR |y[n]| = |h[n] *x[n]|
∞
= |∫−∞ 𝑥(𝜏)ℎ(𝑡 − 𝜏)𝑑𝜏| OR = |∑∞
𝑚=−∞ 𝑥 [𝑚]ℎ[𝑛 − 𝑚]|
∞
≤ ∫−∞|𝑥 (𝜏)||ℎ(𝑡 − 𝜏)|𝑑𝜏 OR = ∑∞
𝑚=−∞|𝑥[𝑚]||ℎ[𝑛 − 𝑚]|
∞
≤ B ∫−∞|ℎ(𝑡 − 𝜏)|𝑑𝜏 OR ≤ B ∑∞
𝑚=−∞|ℎ[𝑛 − 𝑚]|
∞
= B ∫−∞|ℎ(𝜏)|𝑑𝜏 OR = B ∑∞
𝑚=−∞|ℎ[𝑚]|

∞
IF, ∫−∞|ℎ(𝜏)|𝑑𝜏 = 𝐾 < ∞ OR ∑∞
𝑛=−∞|ℎ[𝑛]| = 𝐾 < ∞
which means that the output is also bounded. This implies that the
system is (BIBO) stable if the impulse response h(t) / h[n], is
absolutely integrable OR summable. Here, the mpulse response is
an external description of the system,

Note:
 Internal (Asymptotic) stability – comparison
Internal behaviour of the system is not always ascertainable from the
external terminals. Therefore, the external (BIBO) stability may not be
correct indication of internal stability.
Some system may appear to be stable by BIBO, may be internally unstable.
This is like a room inside a house on fire: no trace of fire is visible from
outside. But the entire house will be burned to ashes.

BIBO stability is meaningful only for systems in which internal and external
descriptions are equivalent (controllable and observable systems)

Internal stability is all inclusive, and external stability can always be

determined from the internal stability.

 Evaluation of Internal (Asymptotic) stability

In the absence of external input, system remains in a particular state

indefinitely – i.e. equilibrium state ------> generally origin (zero) for linear
case
With a small disturbance, it will generate signal consisting of characteristic
modes
Hence, It is necessary to look at the characteristic roots OR characteristic
modes of the system.

eλt with λ -ve real eλt with λ +ve real

Repeated root at
eλt with λ zero origin

eεtcosωt with ε -ve eεtcosωt with ε +ve

cosωt t cosωt
 Characteristic modes can take different forms depending upon the location
of the characteristic roots in the complex plane.

 “An LTIC system is asymptotically stable if, and only if all the characteristic
roots are in the Left Half Plane of the complex plane. The roots may be
simple (unrepeated) or repeated”
 “An LTIC system is unstable if, and only if one or both of the following
conditions exist:
I. At least one of the characteristic root is in the Right Half Plane of the
complex plane.
II. There are repeated roots on the imaginary axis of the complex plane”
 “An LTIC system is marginally stable if, and only if there are no
characteristic root is in the Right Half Plane of the complex plane and there
is at least one unrepeated characteristic roots on the imaginary axis”
 Similarly,

 “An LTIDT system is asymptotically stable if, and only if all the characteristic
roots are inside the unit circle of the complex plane. The roots may be
simple (unrepeated) or repeated”
 “An LTIDT system is unstable if, and only if one or both of the following
conditions exist:
III. At least one of the characteristic root is in the exterior of unit circle of the
complex plane.
IV. There are repeated roots on the unit circle of the complex plane”
  “An LTIDT system is marginally stable if, and only if there are no
characteristic root is in the exterior of unit circle of the complex plane and
there is at least one unrepeated characteristic roots on the unit circle”

ex00basicsignalmodels2.m ????

Dependence of system behaviour on characteristic

modes
o Characteristic modes are the seeds of the system
o They leave their imprint on every aspect of the system behaviour
o If we drive the system with an input having the same form as the
characteristic mode, the system behaves strongly, (resonance phenomena).
o If we drive the system with an input having the different form as the
characteristic mode, the system behaves poorly.
Let Impulse response h(t) = Aeλtu(t) and input x(t) = eεtu(t) then,
y(t) = h(t) * x(t)
= Aeλt * eεt t≥0
𝐴
= [eεt - eλt]u(t)
𝜀−𝜆
= B [eεt - eλt]u(t)
When ε ----> λ, B ----> ∞ ; the system behaves strongly
Demonstration of strong behaviour when modes are equal

ex03stabldependancy.m

Time constant (response time )of the system from the

characteristic modes
A time lag , before the system fully responds to any input.
An input δ(t) is instantaneous (zero duration), but its response h(t) has a
duration Th
System requires time Th to respond fully to this input.
Width of the impulse response = time constant of the system.
It is an indication of how fast the system is.
..............
Th = -1/λ
Th α (proportional to ) reciprocal of the Real part of the Eigen value.
Example: impulse response of the system is h(t) = e-0.2t
Area under 2 e-0.3t portion of the curve is 10.0100
Maximum value of the curve at t = 0 is 2
The time constant of the impulse response is Th = Area / max value
= 5.005

Example: impulse response of the system is h(t) = t e-0.1t

Area under 2 e-0.3t portion of the curve is 99.3172
Maximum value of the curve at t = 0 is 3.6788
The time constant of the impulse response is Th = Area / max value
= 26.9972
Example: impulse response of the system is h(t) = e-0.3tcos2πt
Area under 2 e-0.3t portion of the curve is 6.6767
Maximum value of the curve at t = 0 is 2
The time constant of the impulse response is Th = Area / max value
= 3.3383

ex03timecons2.m

Time constant is evaluated as weighted average of time constants

associated with the N modes of the system.

If input signal x(t) has the width Tx and h(t) has Th , then output signal has
the width Th + Tx. It is an indication of amount of spread OR rise time.

Filtering and cut off frequency of the system

Longer the time constant sluggish the system is.
It takes longer time to respond fully to the input.

Such systems cannot respond effectively to rapid variations in input.

Eg: it cannot able to respond well to the high input frequency sinusoidal
signal.

It supresses the rapidly varying (high frequency) sinusoids, there by acting

as Low Pass Filter. With

Th = 1 / fc Hz.
Applied input signal at t = 0 is x(t) = cosωt
Let the system be h(t) = ((t>=0)&(t<2)) with time constant = 2s.
Hence, cut off frequency of the system be 3.1416 radians/s OR 0.5 Hz.
Case 1: Let the applied input frequency be 0.3142radians/s OR 0.05 Hz.
Case 2: Let the applied input frequency be 1.5708 radians/s OR 0.25 Hz. And
cut off frequency of the system be 3.1416 radians/s OR 0.5 Hz.

Case 3: Let the applied input frequency be 3.1416 radians/s OR 0.5 Hz. And
cut off frequency of the system be 3.1416 radians/s OR 0.5 Hz.
Case 4: Let the applied input frequency be 6.2832 radians/s OR 1 Hz. And
cut off frequency of the system be 3.1416 radians/s OR 0.5 Hz.
It supresses the rapidly varying (high frequency) sinusoids, there by acting
as Low Pass Filter. With
1
fc = Hz.
𝑇ℎ

ex03filtering3.m

Resonance concepts related to the systems

Resonance is a cumulative phenomenon, NOT instantaneous.

It build up linearly with time ‘t’

ex03resonance4.m
CASE 1 : Let the system be h(t) = cos1.2t OR characteristic value is 0 + jβ,
Applied input signal at t = 0 is x(t) = cosωt
Case i : Let input frequency ω be 1.1 radians/s
Case i : Let input frequency ω be 1.2 radians/s

If mode were to decay at a rate less than 1/t , then we should see
resonance phenomenon clearly.
CASE 2 : Let the system be h(t) =e-0.1t cos1.2t OR characteristic value is α + jβ,

Applied input signal at t = 0 is x(t) = e-0.1t cosωt

Case i : Let input frequency ω be 1.1 radians/s
 Case i : Let input frequency ω be 1.2 radians/s

and ex03resonance41.m
If the input frequency is β, we get very large value of the response for the
smaller value of α.
Also response drops off rapidly as the input signal frequency moves away
from β.