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Stability in Z Plane: Dr. Sadeq Al-Majidi

The document summarizes stability analysis techniques for discrete-time systems mapped from continuous-time systems using a z-transform. It discusses: 1) Mapping continuous-time systems defined in the s-plane to the z-plane using a z-transform with the sampling period. 2) A system will be stable if all roots of the characteristic equation lie inside the unit circle in the z-plane. 3) Jury's stability test which forms an array from the characteristic equation coefficients and checks conditions to determine stability. Examples demonstrate applying the techniques.

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46 views

Stability in Z Plane: Dr. Sadeq Al-Majidi

The document summarizes stability analysis techniques for discrete-time systems mapped from continuous-time systems using a z-transform. It discusses: 1) Mapping continuous-time systems defined in the s-plane to the z-plane using a z-transform with the sampling period. 2) A system will be stable if all roots of the characteristic equation lie inside the unit circle in the z-plane. 3) Jury's stability test which forms an array from the characteristic equation coefficients and checks conditions to determine stability. Examples demonstrate applying the techniques.

Uploaded by

jin kazama
Copyright
© © All Rights Reserved
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Download as PDF, TXT or read online on Scribd
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Lecture 7

Stability in Z plane

Dr. Sadeq Al-Majidi

Dept. Of Electrical Engineering/ College


of Engineering/ Misan University
Control Engineering
Fourth Year
OUTLINE

• Mapping from the s-plane into the z –plane


• Stability of Real-Time Systems:
• Jury’s stability
• Examples

2
Mapping from the s-plane into the z -plane

• It is possible to map from the s to the z-plane using the relationship:

• The S is complex variable:

• Now :

• It can be written
(7 63)

• where ws is
the sampling frequency.

3
Stability of Real-Time Systems:

• Suppose we have a closed-loop system transfer function:

• The characteristic equation of the


system:

• We can say that a system in the z-


plane will be stable if all the roots
of the characteristic equation, lie
inside the unit circle.

4
Example 1: Figure below represents the digital control system. Check the
stability of the system when the T=1 seconds?

Solution;

For T=1 second

• The characteristic equation of the system:


• Now,

• The solution of which is z = -1.594 which is outside the unit circle, i.e.
the system is not stable.
5
Example 2: For the system given in Example 1, find the value of T for which
the system is stable.
Solution:

• Thus, the system will be stable as long as the sampling time T < 0.549.

6
The Jury stability test

• In the same way that the Routh-Hurwitz criterion offers a simple method of
determining the stability of continuous systems, the Jury’s stability test is
employed in a similar manner to assess the stability of discrete systems.
• Consider the characteristic equation of a sampled-data system.

• We now form the array shown in the following table.


• The elements of this array are defined as follows:
• The elements of each of the even-numbered rows are the elements
of the preceding row, in reverse order.

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Jury’s test is then applied as follows:
• Check the first three conditions and stop if these conditions are
Satisfied , as a result the system is stabile.
• Construct the array given in the Table and check the fourth conditions
given above if any the three condition is not satisfied.
• If it still unsatisfied , the system is unstable.

9
Example 1 : Check stability of a system has an open loop transfer function:

Solution:
• The characteristic equation:

• Now apply Jury’s condition test:


Condition 1 Q(1)=1-1+0.7=0.7˃ 0
Condition 2 = 1(1+1+0.7) = 2.7 ˃ 0

Condition 3 / a0 / ˂ an 0.7 ˂ 1 The system is stable

10
Example 2: the characteristic equation of digital control system is given by :

• Find the stability of the system?


Solution:
Now,
Condition 1: Q(1)= 1-2+1.4- 0.1= 0.3 ˃ 0.
Condition 2 : = 1(-1-2 -1.4- 0.1)= - 4.5 ˂ 0

Condition 3 : / a0 / ˂ an 0.1 ˂ 1 .
• Because the condition 2 does not satisfy. Appling condition 4:

• Since / -0.99/ ˂ /-1.2/ the system is unstable

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