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Modeling
Analysis
Laplace transform
Lecture 9
Stability
Transfer function
Models for systems
electrical
mechanical
electromechanical
Block diagrams
Linearization
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
Stability
f(t)
f(t)
M
x(t)
x(t)
f(t)
f(t)
x(t)
x(t)
M
B
x(t)
x(t)
f(t)
f(t)
x(t)
x(t)
u(t)
u(t)
y(t)
y(t)
BIBO stable
system
Asymptotic stability :
WindWind-induced vibration
Collapsed!
2008
ICs
u(t)=0
u(t)=0
y(t)
y(t)
Asymp.
Asymp. stable
system
Some terminologies
Ex.
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
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.
TF:
Pick
Output
11
12
Stability summary
Let si be poles of G.
Then, G is
f(t)
f(t)
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)
M
B
Poles=
stable?
f(t)
f(t)
x(t)
x(t)
Poles=
stable?
13
Examples
14
Stable/marginally stable
/unstable
unstable
Stability for G(s)
G(s) is determined by poles of G.
Next
Exercises
Read Sections 55-1, 55-2, 55-5.
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