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Lecture7 N

The document discusses stability in digital control systems. It defines two types of stability: 1) asymptotic stability which requires the system response to go to zero over time for any initial conditions, and 2) bounded-input bounded-output (BIBO) stability which requires the system response to remain bounded for any bounded input. For a system to be stable, all its poles must lie inside the unit circle in the z-domain. The Routh-Hurwitz criterion and Jury test can also be used to determine stability based on pole locations. Examples are provided to find the stable range of gains for unity feedback control systems.

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10 views

Lecture7 N

The document discusses stability in digital control systems. It defines two types of stability: 1) asymptotic stability which requires the system response to go to zero over time for any initial conditions, and 2) bounded-input bounded-output (BIBO) stability which requires the system response to remain bounded for any bounded input. For a system to be stable, all its poles must lie inside the unit circle in the z-domain. The Routh-Hurwitz criterion and Jury test can also be used to determine stability based on pole locations. Examples are provided to find the stable range of gains for unity feedback control systems.

Uploaded by

slo803421
Copyright
© © All Rights Reserved
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Middle Technical University

Electrical Engineering Technical College


Department of Electrical Power Eng. Techniques
Post Graduate Studies

Lecture Notes in:


Digital Control Engineering
Lecture seven: Stability of Digital
Control Systems
Stability of Digital Control Systems

Stability is a basic requirement for digital and analog control systems. Digital control is based on samples and is
updated every sampling period, and there is a possibility that the system will become unstable between updates.

7.1 Definitions of stability

The most commonly used definitions of stability are based on the magnitude of the system response in the steady
state. If the steady-state response is unbounded, the system is said to be unstable.

The first stability definition considers the system output due to its initial conditions.
The second definition of stability concerns the forced response of the system for a bounded input. A bounded input
satisfies the condition

For example, a bounded sequence satisfying the constraint |u(k)| < 3 is shown in Figure 7.1.
7.2 Stable z- Domain pole locations
Consider the sampled exponential and its z-transform

where p is real or complex. Then the time sequence for large k is given by
Hence, we conclude that the sequence is bounded if its poles lie in the closed unit disc (i.e., on or inside the unit
circle) and decays exponentially if its poles lie in the open unit disc (i.e., inside the unit circle).

7.3 Stability conditions

The analysis of section 7.2 allows the derivation of conditions for asymptotic and BIBO stability based on transfer
function models.

7.3.1 Asymptotic stability


7.3.2 BIBO stability

Theorem 7.2 establishes necessary and sufficient conditions for BIBO stability of a discrete-time linear system.

Because the z-transform of the impulse response is the transfer function, BIBO stability can be related to pole locations
as shown in Theorem 7.3.
7.3.3 Internal stability

the stability of the closed-loop transfer function is not always sufficient for proper system operation because some of
the internal variables may be unbounded.

In a feedback control system, it is essential that all the signals in the loop be bounded when bounded exogenous inputs
are applied to the system.
Consider the unity feedback digital control scheme of Figure 7.3, the transfer functions associated with the system are
given by
Clearly, it is not sufficient to prove that the output of the controlled system Y is bounded for bounded reference input R
because the controller output U can be unbounded. In addition, the system output must be bounded when a different input
is applied to the system—namely, in the presence of a disturbance.
7.4 Stability determination

7.4.2 Routh-Hurwitz criterion

The Routh-Hurwitz criterion determines conditions for left half plane (LHP) polynomial roots and cannot be directly used
to investigate the stability of discrete-time systems. The bilinear transformation

transforms the inside of the unit circle to the LHP.


7.5 Jury test
EXAMPLE 7.6
Conditions 2, 5, and 6 are violated, and the polynomial has roots on or outside the unit circle.
EXAMPLE 7.7

Find the stable range of the gain K for the unity feedback digital cruise control system with the analog plant transfer
function

and with digital-to-analog converter (DAC) and analog-to-digital converter (ADC) if the sampling period is 0.02 s.
EXAMPLE 7.8

Find the stable range of the gain K for the vehicle position control system with the analog plant transfer function

and with DAC and ADC if the sampling period is 0.05 s.

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