Automatic Control Systems

Lecture 3
Francisco Arcos
efarcos@uao.edu.co
Faculty of Engineering
Universidad Santiago de Cali
Stability
A stable system is one in which small inputs lead to responses that do not
diverge

• BIBO
• Liapuno
v

Francisco Arcos - AGT 2

Stability
Total response of a
system:

• A linear, time-invariant system is stable if the natural response approaches zero as time
approaches infinity

• A linear, time-invariant system is unstable if the natural response grows without bound as time
approaches infinity

• A linear, time-invariant system is marginally stable if the natural response neither decays nor
grows but remains constant or oscillates as time approaches infinity

Francisco Arcos - AGT 3

Stability - BIBO
Total response of a
system:

• A system is stable if every bounded input yields a bounded output

• A system is unstable if any bounded input yields an unbounded output

Francisco Arcos - AGT 4

Where are the poles?
Routh-Hurwitz Criterion

I do not know exactly where

the poles are; however, the
number of roots in the open
right half-plane is equal to
the number of signs changes
in the first column

Francisco Arcos - AGT 5

Where are the poles?
Routh-Hurwitz Criterion - Examples

Special
cases:

Francisco Arcos - AGT 6

Block Diagrams
Block Diagrams
Routh-Hurwitz Criterion
Application in Control

Francisco Arcos - AGT 9