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March 25, 2014 2
I l S t R
Impulse System Response
Let the input be a unit impulse function
p p
r(t) = (t) then R(s) = 1
The system output can be expressed as
C(s) = G(s) R(s) = G(s)
Let all of the poles be distinct, using partial fraction
expansion
i
r1 r2 rn
C (s)
s p1 s p2 s pn
March 25, 2014 3
I l S R
Impulse System Response
Taking the inverse Laplace transform
a gt e e se ap ace t a s o n
c(t ) r1e p1t r2 e p2t rn e pnt ri e pit
i 1
Considering the k
g th pole, s=p
p , pk.
If pk<0 (or its real part is negative), then the pole s=pk,
will be in the left half side of the s‐plane.
Furthermore, the time‐domain exponential will decay to
zero
If we have repeated poles, the response will contain
If we have repeated poles the response will contain
terms like rktepkt, but these will also decay to zero as
t (Using l'Hopitale's rule).
March 25, 2014 4
C diti f St bilit
Condition for Stability
Notice that if any pole lies in the right half side of the
yp g
s‐plane, the response will contain an increasing
exponential, and blow up to infinity.
Thus, in order for a system to be stable, ALL
Th i d f b bl ALL of its
f i
poles must be in the Left Half Plane (LHP).
March 25, 2014 5
M i l St bilit
Marginal Stability
If a system has non‐repeated poles on the imaginary
y p p g y
axis, its step response (and its response to an impulse,
sinusoid, etc), will contain a sinusoid of constant
amplitude.
amplitude
However, if the input is a sinusoid at the same
frequency, the output will blow up to infinity.
Since the output only blows up to infinity for a specific
(bounded) input, it is sometimes called Marginally
p g y
Stable.
March 25, 2014 6
M i l St bilit
Marginal Stability
However, since the term does not decay to zero, even
y
for a step or impulse input, the system won't be of
much practical use (since we can't really control it).
Furthermore, any infinitesimal drift in the system's
F h i fi i i l d if i h '
parameters will make it either stable or unstable.
Bottom Line: Marginal stability is really just a
mathematical curiosity, with little practical
significance.
g
March 25, 2014 7
I t bilit i th R l W ld
Instability in the Real World
In the world of mathematical models, we talk about
responses that blow up to infinity.
This doesn't really happen in the physical world.
Thi d
Things tend to reach physical limits long before they
h h i l li i l b f h
get to infinity
March 25, 2014 8
T ti f St bilit
Testing for Stability
All that is required, to test for stability, is to see
q y
whether the system's poles are
In the left half plane (stable),
Or, in the right half plane (unstable).
( )
Suppose a system has a transfer function G(s) which
can be expressed as G(s)=B(s)/A(s)
can be expressed as G(s) B(s)/A(s)
Let the polynomial A(s)=sn+an‐1sn‐1+an‐2sn‐2+…+a0, then
it could be factorized as
A(s) = (s‐p1)(s‐p2)…(s‐pn)
where p1,p2,…,pn are the system's poles.
March 25, 2014 9
If this polynomial multiplied out.
If hi l i l l i li d
A(s)=sn‐(p1+p2+…+pn)sn‐1+(p1p2+ p1p3+…+ pn‐1pn)sn‐2‐…+
+( 1)n(p1p2…p
+(‐1) pn)
Now, suppose that all of the poles are in the left half
plane. Thus, all of the real parts are negative.
Furthermore, since complex poles always appear in
conjugate pairs, all of the imaginary parts will cancel.
First of all of the coefficients a0,a1,…,an‐1 will be
positive.
For example, an‐1=‐(p1+p2+…+pn), which is minus a
negative real number (since the real parts of all of the
pk are assumed to be negative.
are assumed to be negative
March 25, 2014 10
Furthermore, none of the coefficients can be zero, as
F h f h ffi i b
this would require some positive real parts to cancel
the negative real parts.
This leads to the necessary, but not sufficient,
condition:
For A(s) to have all left half plane poles, all of the
coefficients a0,a1,…,an‐1 must be strictly greater than
zero.
If a system fails this test, then it is unstable.
If t
If a system passes this test, then we must continue
thi t t th t ti
checking, and compute the Routh’s array.
March 25, 2014 11
R th’ Array
Routh’s A
sn
1 an 2 an 4
n 1
s an 1 an 3 an 5
n2
s b1 b2 b3
0
s g1
March 25, 2014 12
R th’ Criterion
Routh’s C it i
The first two rows are constructed from the polynomial
p y
coefficients of the denominator polynomial.
Despite what the notation might suggest, the third row
(i b ) i NOT
(i.e. b1 etc) is NOT constructed from the numerator
d f h
coefficients.
The numerator coefficients are computed using
(negative) determinants.
Thus, form determinants using the left‐most column,
Thus, form determinants using the left most column,
and each of the remaining columns, in the two rows
above your current position.
March 25, 2014 13
b1=(a
( n‐1an‐2‐1.an‐3)/a
)/ n‐1 b2=(a
( n‐1an‐4‐1.an‐5)/a
)/ n‐1
c1=(b1an‐3‐an‐1b2)/b1 c2=(b1an‐5‐an‐1b3)/b1
Continue computing in this fashion, until you
C i i i hi f hi il
construct 2 rows with 1 element each.
The number of sign changes in the first column will be
equal to the number of right half plane roots.
March 25, 2014 14