ME451: Control Systems Course Roadmap
ME451: Control Systems Course Roadmap
Asymptotic stability :
Wind-
Wind-induced vibration Collapsed!
Any ICs generates y(t)
y(t) converging to zero.
2008… ICs y(t)
y(t)
Asymp.
Asymp. stable
u(t)=0
u(t)=0 system
5 6
Pole : roots of d(s) All the poles of G(s) are in the open left
half of the complex plane.
Characteristic polynomial : d(s)
… Overdamped
… Critically damped
Asym.
Asym. Stability:
… Underdamped
(U(s)=0)
U(s)=0)
… Undamped
BIBO Stability:
(y(0)=0)
Re(α)>
Bounded if Re(α)>0
0
9 10
4 4
3 3
2 2
Amplitude
Amplitude
1 1
0 0
-1 -1
-2 -2
-3 -3
-4 -4
0 2 4 6 8 10 12 0 2 4 6 8 10 12
6 6
Time (sec) Time (sec)
4 4
2 2
0 0
-2 -2
-4 -4
-6 11 -6 12
-5 0 5 -5 0 5
Second order impulse response –
Underdamped and Undamped
Remarks on stability
Changing / Fixed
For a general system (nonlinear etc.), BIBO
5
Impulse Response stability condition and asymptotic stability
4 condition are different.
For linear time-invariant (LTI) systems (to which
3
-1
obtain a transfer function), the conditions
-2 happen to be the same.
-3
-4
0 2 4 6 8 10 12
In this course, we are interested in only LTI
6
Time (sec)
4 systems, we use simply “stable” to mean both
2
0
BIBO and asymptotic stability.
-2
-4
-6 13 14
-5 0 5
15 16
Feedback Technique Positive Feedback
K will depends on the distance between the guitar and the amplifier.
17 18
19 20
Examples Summary and Exercises
Stable/marginally stable
/unstable Stability for LTI systems
(BIBO and asymptotically) stable, marginally stable,
? unstable
Stability for G(s)
G(s) is determined by poles of G.
?
Next
?
Routh-
Routh-Hurwitz stability criterion to determine stability
without explicitly computing the poles of a system.
?
Exercises
? Solve examples in the previous slide.
???
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