Bounded Input-bounded

- -

output (BIBO) stability

·
Bounded us unbounded synal

Aagnal u is bounded If there is a finite M>0 such that

1UCt) 1 = M for all to

·
BIBO stability

-
A system is BIBO stable If the system output is bounded whenever

the system Input is bounded

* eq
gain system

+H y y() kuct)
=

1y(t)1 =

(k) (nCt)1

If luctil = M for all t , then 1y(0)1 :

IKIM fur all +

-
If
afleast one bounded
input causes unbounded output , system
is not BIBO stable

* eq Integrator system

- 3 y(t)
=

S u(z) d7

say
UCt= Act) then yCt)- S"
↑
Ha2= +Ac *
·
BIBO Stability and Poles of transfer Function

For causal and its

systems
-

Fest For stability A system is BIBU stable it and only if all poles
-
:

of the TE have strictly negative real part .

(Rels) <O(

B IB0 stable not BIBU stable

·
BIBO stability and coefficients of transfer function

TF ECs)
b
:
-
=

-
Test For instability :

If all solutions of acs)=s"+ an-is" t ..

+ dis

+ 90 : 0 have negative rea part ,

then an , >0 and 90>0

ie . If BIBO stable ,
then 90>0 fan-> O

90 10 then alsl=o has

-consequence :
If 0 or an a

solution with
non-negative real
part ( :. not BIBOstable /

why does this hold ?

*
Realpoles P , ... PK With Pi < O

*
*
complex conjugate poles 9, 9 ,*, -19 , 9 with ReC9i) <0

acs) :
Stanist . . + 9, 5 + do

=(s-p . ) .. (s-PK) (S-9 ) (S-9 ,* )-- (S-9e) (S-9e4)

.

do Pi and 9i
↑ Express in terms
of

2
do =
C-11" P1 ·

P2--Px 19 : .. 19e1"
=

(-)(-2)
...

-Pr)(-
--

(e
>0

* Express An-1 In terms

of Pi and 9:

*
an-1 =-
[P +-+Px+9 , , +9 , 4+-+ Let 92 ]
e - -
20 2Re(91) <0 2 Rel9e) <0

>0

Test For stability first order acs)= St do

-

:
·

If 90>0 then all solutions of acs)

=
0 have ReCS)<0

-
Test For stability :

second order acsl= 3279 ,

50 90

If 90>0 and 9 , 30 then all solutions acs) =0 have ReCS) <O

 -

Test For Stability

:

third order acsl

=

+ 925+ acs+ 90

If doso and a 230 and &29 : > do then all solutions a(s) =

have Re(s) <O

-
General coefficient based Stability test : Routh -
Hurwoth criterior

Stability of Interconnected Systems

· what about Interconnections

Pole-zero cancellation

No /-
*
es .

see
S+ 1

U <
-
always assume disturbance input
↓
/- - 3

-Boras use en

need stronger notion of stability

·

stability of Interconnected systems

- we need to assume additie (disturbancel

Input to every system block

V W

↓ ↓
r D y
+
u

- D -
O -
A

L z

-
I
interconnection stable If for
An of systems is
every Input-output pair
-

the equivalent system is BIBO stable

·
unity feedback loop
V W

↓ ↓
y

-
u

O -

I
-

stability of
the unity feedback
roop
*

gang OF Four (TFs) :

Finis
#
pesscess
I

! e

PCS)
#PCS)
[Cs)

ce apact bybc
*

- bes
If PCs) =

Cass
=

are ran a
and
,

gang of Four all have denominator

apis(qc(s)+bp(s)b ,
(s)

*
Characteristic polynomial of the unity Feedback Loop
:

apac t
bobc
*
unity Feedback loop stable It and only if all roofs Of

characteristic
polynomial =

0 have
negative real
part .

Rules out unstable cancellation

pole-zer
:
*

and bc(s) and Recs)<, What

-> If ap(s) = 0 = 0 0

happens ?

apac+bpbc 0

/
=

A ->

will have a not ats Chas Recs(>, 07

Step Response of 1 and 2nd order systems
·
Canonical Ist order
systems

Transfer Funchon - Step response

-

a + y(t) 1 e-at fort) 0

= -

S a stable if aso
pole
:

:
= =

Scaling :
ensures that

step response
->
I

canonical :

So only parameter is a

Step Response Parameters

*
time constant :
"a Chine to reach 1 -
Ye
= 63 % of Steady-state value (

coisofde tre:He a l I

-
·
Canonical second order
system

Transfer Function
-

- ↳n a
=

2 IWn
-

+ as + b + 24WnS+ wi b =

Wi

* Wn>0 natural Frequency

:

*I :
damping ratio
-

stability
:

a <0 , b > 0 ( 2> 0 , WnER)

-
canonical :
no zers , scaled so
steady state value is one .

·
Pole Locations

Poles :
solutions of si 2 1wnstun =
0

Quadratic Formula :

Pole locations

-
yon I unt
 * undamped : (2 =

0) complex poles (purely Imaginary

*

Underdamped
:

(OCY<1) complex poles (stable)

* entically damped
:

(I=I) real pole with multiplicity 2 .

* overdamped
:

(I> 1) real distinct poles

·
underdamped case

-stand where
-complex conjugate poles : -

Ea = WnI and Wd= Wit

step response
-
:

yet)
=
1 - e-Jdt[Cs (Wat) +
Wd
Sin(wath] fort>,

* jd>0 controls convergence to

steady-state
*
wd>o controls oscillation

- Step response parameters

* 24 settling time
:

Ts =

(Yid) In (Y0 02)

.

(based on
exponential enverope)
 * 10 % -90%. Risetime
:

Fr =

1 .

8/wn (rough approx ).

* Peaktime
:

Tp
=
#rd (and rst zen of derrative
* overshoot y:

Ymax-Yanas= et(w)= -
*
(e)
I Inad

Os :
overshoot

it increase Is same

We
Ip decrease

Os same

If increase
Is decrease
Ed

Ip same

OS decrease

Increasin Un
same
Wd Ts decrease
> I same
Tp decrease

we increase OS same
od increase

EFFect of Additional Poles

· Effect of Additional poles

Example 3d order system with I-JdI wail

:
-

* pair of complex conjugate poles at -

IWnI /Wd

* Real pole at -
<r (Cr > 0)
Wi 1
Hz(8)
·

(52+ 2 1wnstwit (Str) S

Laplace Transform of step response

 B(s +2wn) +Cwd
43(s) =

A +

LSt IWn)2 + War

·
for
t
- Step response for >
, 0

YLt)
=

A + [Wnt<Bcos(Wat) +
C sin(wdt)) + De-rt

-
observation :

*
If (r> tw -
then response due to pole at -

Xr dies out

much Faster than response due to

complex conjugate poles
* Implication :
can approximate order
system with 2nd
order system .

· Dominant Poles

Dominant poles :

group of poles which are :

the
* closest to
Imaginary axis

separated prom other poles

*

3 ud Order 2nd order ist urcer

-
usually either :

Single Dominant
*
Pole &
approx .

by 1st order system

* pair of Dominant pole -

approx .

by 2 order system

Effect OF ZeNOS

· Effect of additional zeros

-
Add a zero at s : -

E to transfer Function H .

HECs= (Es+1) ness

 -

Laplace transform of step response :

He s =

(2 5) nes +
= 1x
S
+

I (s()
old step bervahve of
response step response
t)
-

Step response :

yq(t)
=

y(t) +

1
-
observations

*
IE1 large :

Yq(t) = Y(t) -

tews that are

Far away

From the doesnt have much effect

Imaginary axis
.

(z) small :
zew close to the Imaginary axis has a
significant
effect .

·
Effect of additional left half plane (LHP) zeros

LHP zero : -
<OK z > O

-
LHP tero :
Faster Dynamics
* higher over shoot
* lower peak time ,
lower rise time

* similar settling time

· Effect of additional Right half plane (RHP) zeros

-
RHPzeN : -
= > 0 4 Z < O

RHPEN : can cause

undershot