Linear Time Invariant Systems

Stability: BIBO and Zero Input Stability

Dr. Aparajita Sengupta

Professor in Electrical Engineering,

Indian Institute of Engineering Science and
Technology, Shibpur, West Bengal
• Transfer Function
Y ( s)
G ( s)
U ( s)
 Ratio of Laplace Transform of Output toLaplace
Laplace Transform of Input, with Initial Conditions
put tozero
• Poles and Zeroes:
– Poles dictate the dynamics of system by deciding
the shape of response (y(t) vs. t plot)
– Poles shape response; decide speed of response;
whether response grows continuously or settles at
a value with time t.
– Addition of Zeros change speed of response; make
it faster or slower 2
First Order Type Zero Plant:

1 1
G ( s)  ;U ( s) ; 1

( s  1) s Step s+1
Transfer Fcn Scope

1
Y ( s)  G ( s).U ( s )  ; y(t) = ?
s( s  1)
t
y(t )  (1  e )

Pole?

3
 j

Pole at s = -1. Lies in the Left Hand Side (LHS) of s-plane

4
 Time Response Plot of a First Order Stable System
1

0.9

0.8

0.7

0.6
y(t)

0.5

0.4

0.3

0.2

0.1

0
0 2 4 6 8 10
Time (seconds)

Response settles with time; remains bounded: 5

Measure Transient Response Specifications from PLOT
6
• Transient Response Analysis
• Delay Time: Delay Time, Td, time required for
response to reach 50% of final value the first time.
• Rise Time: Rise time, Tr, is time required for
response to change from 10% to 90% of final value.
• Setting Time: Settling time, Ts, is defined as the
time required for the step response to decrease and
stay within 2% or 5% of its final value.
• Peak Overshoot : Peak overshoot, Mp ,is maximum
peak value of response measured from unity --
largest error between input and output
• Peak Time: Peak time is time required for
response to reach first peak. 7
• Steady State Error:

• Error, E(s) = R(s) – H(s)Y(s)

• Also, Y(s) = G(s)E(s)
• Hence, E(s) = R(s) – G(s)H(s)E(s)
R(s)
or, E(s) 
[1  G ( s ) H ( s )]
G ( s)
Also, Y ( s )  , the closed loop T.F. (CLTF)
[1  G ( s ) H ( s )]
 e( )  Lt e(t), the Steady State Error
t 

sR(s)
 Lt sE(s)  Lt
s 0 s 0 [1  G ( s ) H ( s )] 8
• Lab Experiment:
K 1
G(s)  ;U ( s )  ;
(1  sT ) s
y (t )  ? e() measure from step response
Also e() from formula - compare and find K.
• PID controller:
KI  1 
K ( s)  ( K P   K D s)  K P 1   TD s 
s  TI s 

9
• Closed Loop Control System – Block Diagram
• Error Dynamics:
de(t )
u (t )  K P e(t )  K I  e(t )dt  K D
dt
• Taking Laplace Transform:
U ( s) KI
 K ( s)  ( K P   K D s)
E ( s) s
• KP : Proportional gain- reduces s s error, increases
speed of response, less stable
• KI : Integral gain- reduces s s error, transient
response deteriorates, less stable
• KD : Derivative gain- reduces overshoot, increases
speed of response, more stable
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• Standard second order system:
• Expressed as- 2
n
G( s)  2 ,
s  2 n s  n
2

n  undamped natural frequency,   damping ratio

• Two poles decide nature of step response:
– Depend on value of ξ
– ξ > 1 is over damped response, REAL unequal poles
– ξ = 1 is critically damped response , REAL equal poles
– ξ < 1 is under damped response, COMPLEX CONJUGATE
– ξ = 0 is undamped response, poles on imaginary axis
– ξ < 0 unbounded response, UNSTABLE system

11
Assume four transfer functions for the four cases
above, Find Poles and check locations of poles
Find Laplace Inverse Transform
Plot responses in MATLAB 12
• Response Depends on location of POLES in the
s-plane

13
First Order Type Zero Plant:

1 1
G ( s)  ;U ( s) ; 1

( s  1) s Step s+1
Transfer Fcn Scope

1
Y ( s)  G ( s).U ( s )  ; Y(t) = ?
s( s  1)
t
y(t )  (1  e )

Pole?

14
 j

Pole at s = -1. Lies in the Left Hand Side (LHS) of s-plane

15
 Time Response Plot of a First Order Stable System
1

0.9

0.8

0.7

0.6
y(t)

0.5

0.4

0.3

0.2

0.1

0
0 2 4 6 8 10
Time (seconds)

Response settles with time; remains bounded: 16

 First Order Type Zero Plant:
1 1
G ( s)  ;U ( s ) ;
( s  1) s 1
-s+1
1 Step Transfer Fcn Scope
Y ( s)  G ( s).U ( s )  ;
s(1  s )
Y(t) = ?

y(t )  (1  e )t

Response grows with time

17
 j

Pole position? In the Right Hand Side (RHS) of s-plane

18
 4
x 10 Response of a First Order Unstable System
0

-0.5

-1
y(t)

-1.5

-2

-2.5
0 2 4 6 8 10
Time (seconds)

Response grows with time

19
First Order System – Pole at Origin
1
s
Step Integrator Scope
Step Response First Order Pole at Origin:
10

7 Take
6
Inverse
Laplace
y(t)

4
Transform
3
and Check
2

0
0 2 4 6 8 10
20
Time (seconds)
 Second Order System – Real poles Stable
2 3
s+2 s+3
Step Transfer Fcn Transfer Fcn1 Scope
Time Response of Second Order Stable with Real Poles
1

0.9

0.8
Take Inverse
0.7
Laplace
0.6 Transform
and Check
y(t)

0.5

0.4

0.3

0.2

0.1

0
0 2 4 6 8 10 21
Time (seconds)
Second Order System – Poles on Imaginary Axis
1
s2 +1
Step Transfer Fcn Scope
Time Response Second Order Poles on Imaginary Axis
2

1.8

1.6

1.4
Take Inverse
Laplace
1.2
Transform
y(t)

1 and Check
0.8

0.6

0.4

0.2

0
0 2 4 6 8 10
22
Time (seconds)
BIBO Stability:
A system is said to be Bounded Input Bounded Output
Stable if the output due to every bounded input and zero
initial conditions remains bounded as t ∞ and
otherwise it is unstable.
u (t )  M , finite, for all t  0 and as t  

y (t )  N , finite, for all t  0 and as t  
Zero Input Stability:
A system is said to be Zero Input Stable if the output due
to finite initial conditions and zero external input decays
to zero as t ∞ and otherwise it is unstable

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