Scribd
Upload
46 views

Chapter 5: Stability: Rabia Nazir Associate Professor, Electrical Engineering Department, UET Lahore

1) The document discusses different types of stability in control systems including input-output stability and internal stability. 2) It provides theorems for determining input-output (BIBO) stability for single-input single-output and multi-variable systems based on the poles of their transfer functions. 3) It also discusses conditions for marginal stability and asymptotic stability in internal stability, using the eigenvalues of the system matrix A.

Uploaded by

Muhammad Salman
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
46 views

Chapter 5: Stability: Rabia Nazir Associate Professor, Electrical Engineering Department, UET Lahore

1) The document discusses different types of stability in control systems including input-output stability and internal stability. 2) It provides theorems for determining input-output (BIBO) stability for single-input single-output and multi-variable systems based on the poles of their transfer functions. 3) It also discusses conditions for marginal stability and asymptotic stability in internal stability, using the eigenvalues of the system matrix A.

Uploaded by

Muhammad Salman
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
You are on page 1/ 6

Chapter 5: Stability

Rabia Nazir
[email protected]
Associate Professor,
Electrical Engineering Department, UET Lahore.
Stability
• In control theory, by stability, usually it means that a stable system
remains under control.
Input Output Stability
An input u(t) is said to be bounded if u(t) does not grow to positive or
negative infinity or, equivalently, there exists a constant um such that

A system is said to be BIBO stable (bounded-input bounded-output


stable) if every bounded input excites a bounded output. Note that this
stability is defined for the zero-state response and is applicable only if
the system is initially relaxed.
Theorems: A SISO system with proper rational transfer function is
BIBO stable if and only if every pole of the transfer function has a
negative real part or, equivalently, lies inside the left-half s-plane.
  1 𝑠−2 ( 𝑠+2)(𝑠 +1)
Question: Are the following system stable? , ,
𝑠 2+2 ( 𝑠+2 )2 +2 ( 𝑠+3)
Input Output Stability
• Theorems: A multivariable system with proper rational transfer-
function matrix is BIBO stable if and only if every pole of every
element of the transfer-function matrix has a negative real part
Internal Stability
•The
  zero-input response of the following system

or the equation is marginally stable or stable in the sense of Lyapunov if every finite
initial state excites a bounded response. It is asymptotically stable if every finite initial
state excites a bounded response, which in addition, approaches 0 as t approaches ∞.
 Example: An experiment about rotational stability. Consider a rigid body for which all of the principal
moments of inertia are distinct. Let I 1 > I2 > I3. Suppose that the body is freely rotating about one of its
principal axes. What happens when the body is slightly disturbed? Let the body be initially rotating
about principal axis 1, so that ω= ω1e1. If we apply a slight perturbation then the angular velocity
becomes ω=ω1e1+ue2+ve3, where u and v are both assumed to be small. By using Euler’s equations and
performing linearization, we can get the following state-space equation
Internal Stability
•  Theorems: If A has distinct eigenvalues, then the equation = Ax is
marginally stable if and only if all eigenvalues of A have zero or
negative real parts.
• The equation = Ax is asymptotically stable if and only all eigenvalues
of A have negative real parts.
• Question: Does “marginally stable” implies “BIBO stable”? Does
“BIBO stable” implies “marginally stable”?

You might also like