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Linear System Theory and Design PDF
Linear System Theory and Design PDF
Theorem 5.1 A discrete-time SISO system described by (5.7) is BIBO stable if and only if gk] is absolutely summable in (0, 20) or Distt0. approaches &(1) +a 2. The output excited by u[k] = sin wok, for k > 0, approaches [g(e/)| sin(wok+ K8(e/*)) where is the z-transform of g[k] or BO =D abe 68) = Proof: If u[k] for all k > O, then (5.7) becomes ‘ ‘ yl] = DO glue =m) = a gtr] o ra which implies yik] > a Y* gi] = ag(l) ask + 00 om where we have used (5.8) with z= 1. This establishes the first part of Theorem 5.D2. If u{k] = sin cok, then (5.7) becomes k yl = Yo gl] sin walk — m) mo k = SY sim [sin wk cos wm — cos.aigk sina) noo * ‘ = sin wok S° gl] coswom — cos wok J gm) sin wom nod mao Thus we have, as k + 00. Lk] + sin wok J gm] cos.wom ~ cos wk 5 > gin] sin arom (59) no no If g{k] is absolutely summable, we can replace = by e/* in (5.8) to yield DY simle" = J glmlicos om — j sinwm] = m= &e!*)128 STABILITY Thus (5.9) becomes YE} > sin ook (Re[g(e/")]) + cos wok (Im[g(e/")}) = [Ble!)i sinwok+ 8 le/)) This completes the proof of Theorem 5.D2. Q.E.D. Theorem 5.D2 is a basic result in digital signal processing. Next we state the BIBO stability in terms of discrete proper rational transfer functions. Theorem 5.03, A discrete-time SISO system with proper rational transfer function (2) is RIRO stable if and only if every pole of 85) has a magnitude less than | of equivalently, lies inside the unit circle on the <-plane 1f 8(2) has pole p, with multiplicity m,, then its partial fraction expansion contains the factors =p = pom ‘Thus the inverse z-transform of &(z) or the impulse response sequence contains the factors BG Phe kph oe, [Ris straightforward to verify that every such term is absolutely summable if and only if p, has 4 magnitude less than I. Using this fact, we can establish Theorem 5.3, Inthe continuous-time case, an absolutely integrable function f(r), as shown in Fig. 5.1, may not be bounded and may not approach zero as 1 —» oc. In the discrete-time case, if g{K] is absolutely summable, then it must be bounded and approach zero as k + 20, However, the converse is not tre as the next example shows. ExaMPLe 5.3 Consider a discrete-time LTI system with impulse response sequence g{k] = I/k for k = 1, 2,..., and g{0] = 0. We compute Leek =; = & el ee ‘)..(! 1 i se a) oe i) ‘There are two terms, each is } or larger, in the first pair of parentheses; therefore their sum is larger than }, There are four terms, each is } or larger, in the second pair of parentheses: therefore their sum is larger than $. Proceeding forward we conclude s tot 20 This impulse response sequence is bounded and approaches (as k —+ 90 but is not absolutely summable. Thus the discrete-time system is not BIBO stable according to Theorem 5.D1. The transfer function of the system can be shown to equal 5.3 Internal Stability 129 A= +74 tis not a rational function of z and Theorem 5.D3 is not applicable. For multivariable discrete-time systems, we have the following results, Theorem 5.MD1 A MIMO discrete-time system with impulse response sequence matrix G[k] = [gi){k]] is BIBO stable if and only if every gi, [A] is absolutely summable. Theorem 5.MD3 [A MIMO discrete-time system with discrete proper rational transfer matsix G(:) = [8 (2)] is BIBO Stabe if and only if every pole of every (z) his a magnitude les than 1 We now discuss the BIBO stability of discrete-time state equations. Consider x(k + 1] = ANlA] + Bul] (5.10) ylk] = Cx(k) + Dulk] Its discrete transfer matrix is Gq) = C= Ay'B+D ‘Thus Equation (5.10) or, to be more precise, the zero-state response of (5.10) is BIBO stable if and only if every pole of G(z) has a magnitude less than 1. We discuss the relationship between the poles of G(z) and the eigenvalues of A. Because of 1 ———~—__ C[Adj(z1 — A)]B+D Sp ClAdict~ a every pole of G(=) is an eigenvalue of A. Thus if every eigenvalue of A has a negative real part, then (5.10) is BIBO stable. On the other hand, even if A has some eigenvalues with zero or positive real part. (5,10) may, as in the continuous-time case, still be BIBO stable. 5.3 Internal Stability ‘The BIBO stability is defined for the zero-state response. Now we study the stability of the zero-input response or the response of Axi) (sly x) excited by nonzero initial state xp. Clearly, the solution of (5.11) is 6.12)130 STABILITY Definition 5.1 The zero-input response of (5.4) or the equation X = Ax is marginally stable or stable in the sense of Lyapunov if every finite initial state x, excites a bounded response. Itisasymptotically stable if every finite initial state excites a bounded response, which, in addition, approaches 0.as t —> 00. ‘We mention that this definition is applicable only to linear systems. The definition that is applicable to both linear and nonlinear systems must be defined using the concept of equivalence states and can be found, for example, in Reference (6, pp. 401-403]. This text studies only linear systems: therefore we use the simplified Definition 5.1 Theorem 5.4 1 1. The equation X = Ax is marginally stable if and only if all eigenvalues of A have zero or negative zeal parts and those with zero real parts are simple roots of the minimal polynomial of A. 2. The equation & parts AX is asymptotically stable if and only if all eigenvatues of A have negative real We first mention that any (algebraic) equivalence transformation will not alter the stability of a state equation. Consider = Px, where P is a nonsingular matrix. Then X = AX is equivalent to X = AX = PAP~'X. Because P is nonsingular, if x is bounded, so is &; if x approaches 0 as ¢ + 00, so does X. Thus we may study the stability of A by using A. Note that the eigenvalues of A and of A are the same as discussed in Section 4.3. The response of & = AX excited by €(0) equals X(t) = e4x(0). It is clear that the rTesponse is bounded if and only if every entry of e*’ is bounded for all ¢ > 0. If A is in Jordan form, then e¥ is of the form shown in (3.48). Using (3.48), we can show that if an eigenvalue has a negative real part, then every entry of (3.48) is bounded and approaches 0 as 1 —+ oo, Jf an eigenvalue has zero real part and has no Jordan block of order 2 or higher, then the corresponding entry in (3.48) is a constant or is sinusoidal for all t and is, therefore, bounded. ‘This establishes the sufficiency of the first part of Theorem 5.4. If A has an eigenvalue with a Positive real part, then every entry in (3.48) will grow without bound. If A has an eigenvalue with zero real part and its Jordan block has order 2 or higher, then (3.48) has at least one entry that grows unbounded. This completes the proof of the first part. To be asymptotically stable, every entry of (3.48) must approach zero as t —> 00. Thus no eigenvalue with zero real partis, Permitted. This establishes the second part of the theroem, Examte 5.4 Consider 00 0 x=]00 0 |x 00-1 Its characteristic polynomial is A(4) = 47(. + 1) and its mimimal polynomial is yo) = AG. + 1). The matrix has eigenvalues 0, 0, and —I. The eigenvlaue 0 is a simple root of the minimal polynomial. Thus the equation is marginally stable. The equation 5.3 Internal Stability 131 01 0 00 0 |x 00 is not marginally stable, however, because its minimal polynomial is 4°(A + 1) and 4 = Ois not a simple root of the minimal polynomial. As discussed earlier, every pole of the transfer matrix GG) = CI-A)y'B+D is an eigenvalue of A. Thus asymptotic stability implies BIBO stability. Note that asymptotic stability is defined for the zero-input response, whereas BIBO stability is defined for the zero-state response. The system in Example 5.2 has eigenvalue 1 and is not asymptoti- cally stable; however, it is BIBO stable. Thus BIBO stability, in general, does not im- ply asymptotic stability. We mention that marginal stability is useful only in the design of oscillators. Other than oscillators, every physical system is designed to be asymptoti- cally stable or BIBO stable with some additional conditions, as we will discuss in Chap- ter7. 5.3.1 Discrete-Time Case This subsection studies the internal stability of discrete-time systems or the stability of xfk +1) = Axtk] (6.13) excited by nonzero initial state xo. The solution of (5.13) is, as derived in (4.20), xlk] = Atx, 6.14) Equation (5.13) is said to be marginally stable or stable in the sense of Lyapunov if every finite initial state x, excites a bounded response. It is asymptotically stable if every finite initial state excites a bounded response. which, in addition, approaches 0 as k > 00. These definitions are identical to the continuous-time case Theorem 5.D4 1. The equation x{k + 1] = Ax[k] is marginally stable if and only if all eigenvalues of A have ‘magnitudes less than or equal to | and those equal to 1 are simple roots of the minimal polynomial of A 2. The equation x{k + 1] = Ax{K] is asymptotically stable if and only if all eigenvalues of A have magnitudes less than 1 ‘As in the continuous-time case, any (algebraic) equivalence transformation will not alter the stability of a state equation. Thus we can use Jordan form to establish the theorem. The proof is similar to the continuous-time case and will not be repeated. Asymptotic stabi