INTERNAL STABILITY

Chapter 6
Stability

The base of the hollow is in equilibrium point. If the

ball is displaced a small distance from this position
and released, it oscillates but ultimately returns to
its rest position at the base as it loses energy as a
result of friction. This is therefore a stable
equilibrium point.

The ball is in equilibrium if placed exactly at the

top of the surface, but if it is displaced an
infinitesimal distance to either side, the net
gravitational force acting on it will cause it to roll
down the surface and never return to the
equilibrium point. This equilibrium is therefore
unstable.

The ball neither moves away nor returns to its

equilibrium position. The flat portion represents a
neutrally stable region.
Internal Stability
Zero Input

Response of
Linear System

Zero State

x  A(t ) x(t ) Zero state input eqaution

 Internal Stability deals with the bounded ness

properties and asymptotic behavior of solutions of ….
 Stability

External
Internal (bounded-input,
(asymptotic) bounded output
or BIBO
Depends on system characteristic t→ Zero-state (Forced) response decay to
roots (poles) not zeros zero for all bounded inputs
t→ Zero-input response decay to To BIBO the Natural response is also to be
zero i.e all roots (poles) in LHP bounded i.e decay to zero. We check with
impulse response
e-t
May be effected by pole zeros cancellations
n  n t
c( t )  e sin n t impulse
 1  n t
c( t )  1  e sin( n t  ) Unit step

t
c( t )  Ke  c( t )  1  k1e  t /   k 2 te t / 

c(t)  1  k1et / 1  k 2et / 2

Stability of State Space Systems

Consider the system

We will discuss two notion of stability

1. Input-Output stability (Zero State)

2. Internal Stability (Zero Input)

Input Output Stability

u y
G

G(s) = C(sI-A)-1B

This system is BIBO stable if and only if all the poles of the
entries of G(s) have negative real parts.

Equivalently, the system is BIBO stable if and only if: every entry
in the impulse response matrix is absolutely integrable.
Internal Stability:

The response of the system

to the initial condition xo and zero input is given by:

x(t) = eAtxo

x(t)→0 for every initial condition if and only if all

eigenvalues of A have negative real parts.
How are the two notations related?

Does internal stability BIBO stability?

Does BIBO stability internal stability?

BIBI stability is related to the poles of G(s) = C(sI – A)-1B

Internal stability is related to the eigen-values of A

When are the poles of G(s) the same as the eigen-values of A?

 adj ( s I  A )
G(s)  C B
det( s I  A )

Therefore all the poles of G(s) are roots of the polynomial

det(sI –A) [characteristics equation]

i.e every pole of G(s) is an eigen-value of A.

Thus, we have an answer to the first question.

If the eigen-values of A are in the left-half plane (i.e. if internal

stability) then the poles of G(s) will be in the left-half plane as well
(BIBO stability)
 Does internal stability BIBO stability?

Does BIBO stability internal stability?

What about the other direction?

Is every eigenvalue of A is a pole of G(s)?? NO!

….WHY ????
 Internal Stability

The LTI system

is BIBO stable iff H(s)=C(sI - A)-1B has all poles on the open
left-half of the complex plane.

The LTI system is internally stable iff all roots of d(s)=det(sI- A)

are on the open left-half of the complex plane.

Internal stability  BIBO stability

Internal stability  BIBO stability + controllability & observability
 X    2 0  x1  1  x1 
Example    
1
 x    u; y  1 0 
 X 2   5 1  2  1 x 2 

The eigen-value; s=1 is NOT A POLE OF “G(s)”.

System is BIBO stable, but not INTERNALLY (Asymptotically) stable.
Theorem When the system (CLTI) is exponentially stable, then it must also
be BIBO stable.

Attention! In general, the converse of Theorem is not true, because there

are systems that are BIBO stable but not exponentially stable. This can
happen when the pre-multiplication of eAt by C and/or the post-multiplication
by B cancel terms in eAt that are not converging to zero exponentially fast.
This occurs, e.g. for the system
X  1 0   x1   0   x1 
   
1
  x    u; y  1 1  
 X 2  0  2  2  1 x 2 
 LTV
Systems
Example

 1 e t 
x ( t )    t  x( t )
  e  1 

( t  t0 )  cos( e t0
 e t
) sin( e t0
 e t 
)
 ( t, t 0 )  e  t0 t t0 t 
  sin( e  e ) cos( e  e ) 

as t  0  ( t, t 0 )  0
Asymptotically stable
 Internal Stability BIBO Stability

LTIV LTV LTIV LTV

Uniform Stablility Uniform stability:
t t
Eigen Values in LHP (t,t0) t→
=some constant  G( t ) dt  X  G(t) dt  X
to
to
Let 1=0; 2= -1 stable but not
exponentially If X( t→) = 0 If X( t→) ≤ 0
stable
stable but not
Exponentially BIBO BIBO

Uniformly Uniformly Example

Exponentially Stable Exponentially  e ( t  t0 ) 0 
Stable  ( t, t 0 )   t ( t  t0 ) ( t  t0 ) 
As t→ eAt=0 (t,t0) t→ =0  e (1  e
0
) e 
 0 0
UES Asymptotically t→   t0 0
stable
e 0
BIBO stable but not internally stable
Find: without solving briefly comment on the stability of the
following four systems:

(a) c(t)= 2+ e3t + 10 sint

Un-stable due to e3t, the C(t) explodes

(b) c(t)= t sint Un-stable due to t, the C(t) increases

(c) c(t)= 2 e-4t + 10 e-t + 5 sint + t 10e-8t +4 cost

Stable but oscillatory due sin and cos functions

1
(d) G (s)  Marginally stable; oscillatory due imaginary roots
s2  3
Theorem 9.4. When the system (CLTI) is exponentially stable, then it must also be BIBO stable.
Attention! In general, the converse of Theorem 9.4 is not true, because there are systems that
are BIBO stable but not exponentially stable. This can happen when the premultiplication of eAt
by C and/or the postmultiplication by B cancel terms in eAt that are not converging to zero
exponentially fast. This occurs, e.g., for the system
Internal Stability
The LTI system
x_ (t) = Ax(t) + Bu(t);
y(t) = Cx(t) + Du(t):
(1)
is BIBO stable i® H(s) = C(sI ¡ A)¡1B + D has all poles on the open
left-half of the complex plane.
The LTI system (1) is internally stable i® all roots of d(s) = det(sI ¡A) are on
the open left-half of the complex plane.
Internal stability =) BIBO stability
Internal stability (= BIBO stability +
controllability and observability