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Course roadmap

ME451: Control Systems

Modeling

Analysis

Laplace transform

Lecture 9
Stability

Transfer function
Models for systems
electrical
mechanical
electromechanical
Block diagrams
Linearization

Dr. Jongeun Choi


Department of Mechanical Engineering
Michigan State University

Time response
Transient
Steady state
Frequency response
Bode plot
Stability
RouthRouth-Hurwitz
(Nyquist)
Nyquist)

Design
Design specs
Root locus
Frequency domain
PID & LeadLead-lag
Design examples

(Matlab simulations &) laboratories


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Simple mechanical examples

Stability

We want mass to stay at x=0, but wind gave some


initial speed (F(t)=0). What will happen?
f(t)
f(t)

f(t)
f(t)

M
x(t)
x(t)

f(t)
f(t)

x(t)
x(t)

M
B

Utmost important specification in control design!


Unstable systems have to be stabilized by
feedback.
Unstable closed-loop systems are useless.
What happens if a system is unstable?

x(t)
x(t)

may hit mechanical/electrical stops


stops (saturation)
may break down or burn out

f(t)
f(t)

x(t)
x(t)

How to characterize different behaviors with TF?


3

What happens if a system is unstable?


Tacoma Narrows Bridge (July 1-Nov.7, 1940)

Mathematical definitions of stability


BIBO (Bounded-Input-Bounded-Output) stability :
Any bounded input generates a bounded output.
ICs=0

u(t)
u(t)

y(t)
y(t)

BIBO stable
system

Asymptotic stability :
WindWind-induced vibration

Collapsed!

Any ICs generates y(t)


y(t) converging to zero.

2008

ICs

u(t)=0
u(t)=0

y(t)
y(t)

Asymp.
Asymp. stable
system

Stability condition in s-domain

Some terminologies

(Proof omitted, and not required)


For a system represented by a transfer
function G(s),

Ex.

Zero : roots of n(s)

system is BIBO stable

Pole : roots of d(s)

All the poles of G(s) are in the open left


half of the complex plane.

Characteristic polynomial : d(s)


system is asymptotically stable

Characteristic equation : d(s)=0


7

Idea of stability condition

Remarks on stability
For a general system (nonlinear etc.), BIBO
stability condition and asymptotic stability
condition are different.
For linear time-invariant (LTI) systems (to which
we can use Laplace transform and we can
obtain a transfer function), the conditions
happen to be the same.
In this course, we are interested in only LTI
systems, we use simply stable to mean both
BIBO and asymptotic stability.

Example

Asym.
Asym. Stability:
(U(s)=0)
U(s)=0)
BIBO Stability:
(y(0)=0)

Bounded if Re(
)>0
0
Re()>
9

10

Remarks on stability (contd)

Examples

Marginally stable if

Repeated poles

G(s)
G(s) has no pole in the open RHP (Right Half Plane), &
G(s)
G(s) has at least one simple pole on
G(s)
G(s) has no multiple poles on

-axis, &

-axis.

Does marginal stability imply BIBO stability?


Marginally stable

NOT marginally stable

TF:

Unstable if a system is neither stable nor


marginally stable.

Pick
Output
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12

Stability summary

Mechanical examples: revisited

Let si be poles of G.
Then, G is

f(t)
f(t)

(BIBO, asymptotically) stable if


Re(si)<0 for all i.
marginally stable if
Re(si)<=0 for all i, and
simple root for Re(si)=0
unstable if

f(t)
f(t)

M
x(t)
x(t)

x(t)
x(t)

Poles=
stable?

Poles=
stable?

f(t)
f(t)

x(t)
x(t)

it is neither stable nor


marginally stable.

M
B
Poles=
stable?

f(t)
f(t)

x(t)
x(t)

Poles=
stable?

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Examples

14

Summary and Exercises

Stable/marginally stable
/unstable

Stability for LTI systems


(BIBO and asymptotically) stable, marginally stable,

unstable
Stability for G(s)
G(s) is determined by poles of G.

Next

RouthRouth-Hurwitz stability criterion to determine stability

without explicitly computing the poles of a system.


?

Exercises
Read Sections 55-1, 55-2, 55-5.

Solve examples in the previous slide.


???
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