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Chapter 6
Stability
Response of
Linear System
Zero State
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 /
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:
x(t) = eAtxo
….WHY ????
Internal Stability
is BIBO stable iff H(s)=C(sI - A)-1B has all poles on the open
left-half of the complex plane.
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
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