Lecture 7

Stability in Z plane

Dr. Sadeq Al-Majidi

Dept. Of Electrical Engineering/ College

of Engineering/ Misan University
Control Engineering
Fourth Year
OUTLINE

• Mapping from the s-plane into the z –plane

• Stability of Real-Time Systems:
• Jury’s stability
• Examples

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Mapping from the s-plane into the z -plane

• It is possible to map from the s to the z-plane using the relationship:

• The S is complex variable:

• Now :

• It can be written
(7 63)

• where ws is
the sampling frequency.

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Stability of Real-Time Systems:

• Suppose we have a closed-loop system transfer function:

• The characteristic equation of the

system:

• We can say that a system in the z-

plane will be stable if all the roots
of the characteristic equation, lie
inside the unit circle.

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Example 1: Figure below represents the digital control system. Check the
stability of the system when the T=1 seconds?

Solution;

For T=1 second

• The characteristic equation of the system:

• Now,

• The solution of which is z = -1.594 which is outside the unit circle, i.e.
the system is not stable.
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Example 2: For the system given in Example 1, find the value of T for which
the system is stable.
Solution:

• Thus, the system will be stable as long as the sampling time T < 0.549.

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 The Jury stability test

• In the same way that the Routh-Hurwitz criterion offers a simple method of
determining the stability of continuous systems, the Jury’s stability test is
employed in a similar manner to assess the stability of discrete systems.
• Consider the characteristic equation of a sampled-data system.

• We now form the array shown in the following table.

• The elements of this array are defined as follows:
• The elements of each of the even-numbered rows are the elements
of the preceding row, in reverse order.

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Jury’s test is then applied as follows:
• Check the first three conditions and stop if these conditions are
Satisfied , as a result the system is stabile.
• Construct the array given in the Table and check the fourth conditions
given above if any the three condition is not satisfied.
• If it still unsatisfied , the system is unstable.

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Example 1 : Check stability of a system has an open loop transfer function:

Solution:
• The characteristic equation:

• Now apply Jury’s condition test:

Condition 1 Q(1)=1-1+0.7=0.7˃ 0
Condition 2 = 1(1+1+0.7) = 2.7 ˃ 0

Condition 3 / a0 / ˂ an 0.7 ˂ 1 The system is stable

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Example 2: the characteristic equation of digital control system is given by :

• Find the stability of the system?

Solution:
Now,
Condition 1: Q(1)= 1-2+1.4- 0.1= 0.3 ˃ 0.
Condition 2 : = 1(-1-2 -1.4- 0.1)= - 4.5 ˂ 0

Condition 3 : / a0 / ˂ an 0.1 ˂ 1 .
• Because the condition 2 does not satisfy. Appling condition 4:

• Since / -0.99/ ˂ /-1.2/ the system is unstable

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