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Dr. AbdullaIsmail
Professor of Electrical Engineering
axicad@rit.edu
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(a) Transient responses corresponding to various pole locations of Y(s) in the splane (complex-conjugate poles only).
(b) Transient-response sequence corresponding to various pole locations of Y(z)
in the z-plane.
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, the output
satisfies
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Asymptotic Stability
Theorem 4.1 can only be used for transfer functions (a) and (b) if their poles
and zeros are not canceled.
Ignoring the zeros, which do not affect the response to the initial conditions,
(a) has a pole outside the unit circle and the poles of (b) are inside the unit
circle.
Hence, (a) is unstable, whereas (b) is asymptotically stable.
Theorem 4.1 can be applied to the transfer functions (c) and (d). The poles
of (c) are all inside the unit circle, and the system is therefore asymptotically
stable. However, (d) has one pole on the unit circle and is only marginally
stable.
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BIBO Stability
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BIBO Stability
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BIBO Stability
Example 4.2
Investigate the BIBO stability of the class of systems with
the impulse response
where K is a finite constant.
Solution
The impulse response satisfies
Using condition
stable.
This is the class of finite impulse response (FIR)
systems (i.e., systems whose impulse response is
nonzero over a finite interval).
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BIBO Stability
Example 4.3
Investigate the BIBO stability of the systems discussed in
Example 4.1:
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BIBO Stability
Example 4.3
Solution
After pole-zero cancellation, the transfer functions
(a) and (b) have all poles inside the unit
circle and are therefore BIBO stable.
The transfer function (c) has all poles inside the unit
circle and is stable; (d) has a pole on the unit circle and
is not BIBO stable.
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BIBO Stability
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Internal Stability
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Internal Stability
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Internal Stability
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Internal Stability
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Internal Stability
Example 4.4
An isothermal chemical reactor where the product
concentration is controlled by manipulating the feed flow rate
is modeled by the following transfer function:
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Internal Stability
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Internal Stability
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Routh-Hurwitz Criterion
This allows the use of the Routh-Hurwitz criterion for
the investigation of discrete-time system stability.
For the general z-polynomial,
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Routh-Hurwitz Criterion
The Routh-Hurwitz approach becomes progressively more
difficult as the order of the z-polynomial increases.
But for low-order polynomials, it easily gives stability
conditions.
The Routh-Hurwitz approach is demonstrated in the following
example.
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Solution
1. The stability of the first-order polynomial can be easily
determined by solving for its root. Hence, the stability
condition is
2. The roots of the second-order polynomial are in general
given by
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are satisfied.
and +1.
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Solution
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Solution
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From the table above, since there is one sign change in the
first column above equation has one root in the right-half of
the w-plane.
This, in turn, implies that there will be one root of the
characteristic equation outside of the unit circle in the z-plane.
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where the terms in the n + 1 conditions are calculated from Table 4.1. given next.
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Theorem 4.6:
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Jury Test
Theorem 4.6:
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Jury Test
3. There are n + 1 conditions in (C) that correspond to the n
+ 1 coefficients of F(z).
4. Conditions 3 through 2n 3 of (C) are calculated using
the coefficient of the first column of the Jury table together
with the last coefficient of the preceding row. The middle
coefficient of the last row is never used and need not be
calculated.
5. Conditions 1 and 2 of (C) are calculated from F(z) directly.
If one of the first two conditions is violated, we conclude that
F(z) has roots on or outside the unit circle without the need
to construct the Jury table or test the remaining conditions.
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Jury Test
and
for first and second order systems respectively where the Jury
table is simply one row.
8. For higher-order systems, applying the Jury test by hand is
laborious, and it is preferable to test the stability of a polynomial
F(z) using a computer-aided design (CAD) package.
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Example 4.8
Jury Test
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Jury Test
Example 4.8
3rd row is calculated using
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Jury Test
Example 4.8
4rth row is same as 3rd row in reverse order
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Jury Test
Example 4.8
5th row is calculated using
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Jury Test
Example 4.8
6th row is same as 5th row in reverse order
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Jury Test
Example 4.8
7th row is calculated using
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Jury Test
Example 4.8
Now we need to evaluate following conditions
nth order system
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Jury Test
Example 4.8
The first two conditions require the evaluation of F(z) at z = 1.
Satisfied
Not Satisfied
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Jury Test
Example 4.8
Next four conditions require Jurys table
Satisfied
Satisfied
Not Satisfied
Satisfied
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Example 4.9
Jury Test
Satisfied
Satisfied
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Jury Test
Example 4.9
Next four conditions require Jurys table
Satisfied
Exercise
Determine the stability of a discrete data system
described by the following CE by using Jurys Stability
criterion.
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BACKUP SLIDES
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Zero-Pole Matching
Exact map between poles (z = esT) exists.
Basic idea, simply use same map for zeros.
Rules
1. All poles are mapped by z = esT.
For example, s = -a maps to z = e-aT
Zero-Pole Matching
Example (1)
Compute the discrete equivalent by zero-pole matching
a
H(s)
sa
Pole (rule 1) s a z e aT
Zero (rule 3) H ( s ) s 0 z 1
a
1 e aT
Gain (rule 4) K
1 K
aT
2
ze
z 1 s a s 0
z 1
H ( z) K
z
z 1
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Zero-Pole Matching
a
H(s)
sa
s-plane
zp-match
z 1
H ( z) K
z
z-plane
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Jury Test
Example 4.6
We compute the entries of the Jury table using the coefficients of the polynomial
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Jury Test
Example 4.6
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Jury Test
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Jury Test
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Jury Test
Example 4.8
Find the stable range of the gain K for the vehicle position
control system, given in the lecture set, with the analog plant
transfer function
and with DAC and ADC if the sampling period is 0.05 s.
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Jury Test
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