Stability
1.1 Introduction
Stability is the most important system specification.
The total response of a system is the sum of the forced and natural responses. Using these
concepts, we present the following definitions of stability, instability, and marginal
stability:
• 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.
1.2 BIBO Stability
Bounded input/bounded output (BIBO) stability refers to the behavior of a dynamic
system in response to input signals. BIBO stability indicates whether a system's output
remains bounded when subjected to bounded input signals. A system is BIBO stable
if, for any input signal that remains within certain bounds or limits, the output signal
also remains within corresponding bounds or limits. In control system analysis, BIBO
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stability ensures that the system's response to inputs is not unbounded or
uncontrollable.
1.3 Understanding Poles and Zeros
The transfer function provides a basis for determining important system response
characteristics without solving the complete differential equation. As defined, the
transfer function is a rational function in the complex variable s = σ + jω, that is:
Where:
K is the Gain
zi are the Zeros
pi are the Poles
Example:
A linear system is described by the differential equation:
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Find the system poles and zeros.
Solution:
From the differential equation the transfer function is:
which may be written in factored form:
Then:
Pole exists at s=-3, s=-2 and Zero exists at s =-0.5 with Gain K=2
Important
The poles and zeros are properties of the transfer function, and therefore of the
differentia equation describing the input-output system dynamics. Together with the
gain K constant they completely characterize the differential equation, and provide a
complete description of the system.
Example:
A system has a pair of complex conjugate poles p1, p2 = −1 ± j2, a single real zero
Z1 = −4, and a gain factor K = 3. Find the differential equation representing the
system.
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Solution:
The transfer function is:
and the differential equation is:
1.4 Stability of a Closed-Loop System
Stability refers to the ability of a closed-loop system to maintain a state of equilibrium
or to return to that state after being subjected to disturbances or changes. A stable
control system is one in which the output remains bounded and does not exhibit
uncontrolled or oscillatory behavior, even when subjected to external forces or
variations in input.
A system is stable if all its poles are in the left half of the complex plane. This
ensures that all modes of the system decay over time. If any pole is in the right half
plane, the system will exhibit unbounded growth, leading to instability.
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1.5 Categories of stability
Stable
The system is considered stable if the poles of the system’s transfer function are on the
left side of the s-plane. But as the poles move closer to the origin, the system’s stability
decreases.
Marginal stable
A system is marginally stable if its poles are on the imaginary axis and don’t repeat.
Unstable
If a system has any poles on the right side of the s-plane, it’s called unstable. Even just
one pole on the right side can make the system unstable. The output grows with time.
The oscillation amplitude grows exponentially with time.
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