Tutorial 6

Solutions to Problem 1

Problem 1
Investigate each of the transfer functions below for
BIBO stability and asymptotic stability.
K
g ( s) =
(s + 1)( s 2 + 2 )

K
g (s) = 2
( s + 4 s + 3)
K ( s + 1)
g (s) =
s ( s 2 + 4 s + 3)

Problem 1
Solution:
We shall find the roots and of the pole polynomial
and judge stability accordingly.

g ( s) =

K
(s + 1)(s 2 + 2 )

The roots of the pole polynomial are:

s 1 = 1 /

s 2,3 = j
The pure imaginary roots indicate that the system is not asymptotically
stable. Unit step-response will oscillate continuously.

Problem 1
Now consider the second TF
g ( s) =

K
( s 2 + 4s + 3)

The roots are located at:

s1 = 1
s 2 = 3

Both are real and negative, implying Stable System

Problem 1
Consider now,
g ( s) =

K ( s + 1)
s( s 2 + 4s + 3)

The roots are located at: s1 = 1

s 2 = 3

s3 = 0
There are two poles real and negative and one at the origin.
First note that the pole at 1 will cancel with the zero in the numerator,
but this does not create a problem since it is a stable pole.
The pole at the origin indicates critical stability stability,