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0
Remarks
Condition can be generalized to time-varying
MIMO systems using ||.|| (norm) in place of |.|
Condition can be generalized to distributed
parameter systems.
18
Proof Theorem 1 BIBO Stability
Contradiction
Sufficiency (if)
u
t
0
0
u
0
Necessity (only if): Assume BIBO stable with condition
violated and let
t
0
0
19
Theorem 2: BIBO Stability
LTI SISO system is BIBO stable if and only if all its
transfer function poles are in the open LFP.
Proof (Necessity)
0
A:
0
]
]-1 x
i
:
n
i
]=1
n
d
=1
0
]
]-1 x
i
:
0
n
i
]=1
n
d
=1
The integral of
]-1 x
i
t
diverges for any transfer
function pole is in the closed RHP .
Proof: Sufficiency
At
]
]-1 x
i
t
n
i
]=1
n
d
=1
,
u
zS
A:
t
0
]
]-1 x
i
:
t
0
n
i
]=1
n
d
=1
zS u ]
]-1 x
i
:
0
n
i
]=1
n
d
=1
After pole-zero cancellation, poles =remaining
) BIBO stability.
20
Kalman Decomposition
Any system can be
decomposed into four
subsystems as shown
in the figure:
Unobservable Mode
Uncontrollable Mode
U(s)
Y(s)
Controllable
Observable
Y(s)
Uncontrollable
Observable
Us)
Controllable
Unobservable
Uncontrollable
Unobservable
21 22
Relationship Between Internal
Stability BIBO Stability
BIBO stability is equivalent to open LHP poles
Internal stability implies BIBO stability (since
poles are a subset of the eigenvalues).
Some eigenvalues may cancel in the transfer
function and are not poles.
BIBO stability does not , in general, imply internal
stability
With no cancellation, {poles}={eigenvalues}
BIBO stability is equivalent to internal stability
23
Definitions
Detectable: all unstable
modes are observable
(i.e. all unobservable
modes are stable).
Stabilizable: all unstable
modes are controllable
(i.e. all uncontrollable
modes are stable).
x
2
x
1
Observable
Subspace
Unobservable
Subspace
(stable)
y
x
2
x
1
Controllable
Subspace
Uncontrollable
Subspace
(stable)
u
24
Important Relations
Internally stable systems are stabilizable
and detectable (no unstable modes).
Observable systems are detectable (no
unstable unobservable modes).
Controllable systems are stabilizable(no
unstable uncontrollable modes).
For minimal realizations, BIBO stability
and internal stability are equivalent
{poles}={eigenvalues}.
25
Example
Controllable (phase var. form) but not observable.
BIBO stable but not internally stable.
Stabilizablebut not detectable.
( )( )
| |
(
= =
(
=
(
=
<
+
=
=
+
=
1 1
1 1
1 1
1
0
0 1
1 0
on cancellati without :
0 1
1
1
1
1
1 1
1
) (
2
O C B A
Form le Controllab
stable BIBO
s s
s
s s
s
s G
26
Example (continued)
Observable (observer form) but not controllable.
BIBO stable but not internally stable.
Detectable but not stabilizable.
( )( )
| |
(
= =
(
=
(
=
<
+
=
=
+
=
1 1
1 1
0 1
1
1
0 1
1 0
on cancellati without :
0 1
1
1
1
1
1 1
1
) (
2
C C B A
Form Observable
stable BIBO
s s
s
s s
s
s G