EGES523

Spring 2006

The Jury Test

for stability of a discrete-time system Given a transfer function H (z ) = b( z ) , the system is stable if and only if all roots of a(z ) a( z ) = a 0 z n + a1 z n 1 + K + a n are inside the unit circle.

To use the Jury test, begin by multiplying a(z) by -1 if necessary to make a0 positive. Then form the following array:

a0 an b0 bn 1 c0 cn2

a1 K a n 1 a n 1 K a1 b1 K bn 1 bn 2 K b0 c1 K c n 3 K

an a0

Third-row entries are based on second-order determinants divided by a0 of the first two rows, starting with the first and last columns, then the first and second-to-last columns, etc.: b0 = a0 an an a0

b1 = a1 an an 1 a0 bk = ak an an k a0
The fourth row is made by reversing the third row, and the fifth row is given by n c k = bk bb01 bn 1 k If all the terms in the first columns of the odd rows are positive, the polynomial a(z) is stable.