Stability Preservation through Tustin Bilinear Transform

ME C134 / EE C128 Fall 2012 The Tustin bilinear transform maps the s-plane to the z-plane via the transform: 2 z1 T z+1

s=

where T is the sampling time. The inverse transform is: 1+ 1

T 2s T 2s

z=

We can plug in values of s = + j to analyze how points in the s-plane map to points in the z-plane: 1+ 1 1+ 1
T 2 ( + j) T 2 ( + j) T T 2 +j2 T T 2 j2

z= = Taking the magnitude yields:

|z| =

1+ 1

2 T 2 2 T 2

+ +

2 T 2 2 T 2

First note that if = 0, then |z| = 1. In other words, the j-axis in the s-plane maps to the unit circle in the z-plane. If > 0, then 1 +
T 2

> 1 and 1

T 2

< 1. Therefore: T 2
2

1+ If < 0, then 1 +
T 2

2 T + 2 |z| > 1 T 2

>

T 2

T 2

< 1 and 1

> 1. Therefore: T 2
2

1+

2 T + 2 |z| < 1

<

T 2

T 2