lJNIT-4 (Stability Analysis) 187

On substitutin g the value of 'A' in equation (I), we get,

-1 .
-+C=0
4

The characteri stic equation of the sampled data system is given as,
L+ Gh G(z) = 0 ·
0

2
K [2T(z-e - T -(z-l)(l -e- .
2T)]
I+- =0
. 2 2(z-l)(z -e-2T)

. 4 (z - i) ~z - e-2 7) + 2KT (z - e-2 7) - K(z - l) ( I 7 e-2 7) = O

4 (z2 - ze-2 r - z + e-2 7)+2KTz - 2KTe-2 r - K(z - ze-2 r - H e- 7) = 0

2

J
, K
2 [z2 - ze-2 r - ~ + e- 2 7] + KTz - KTe-2 r - [z - ie-2 r - l + e-2 7] = 0
2
. · - K K . K K
2z2 - 2ze-2 r - 2z + 2e-2 r + KTz - KTe-2 r - - z + - ze- r + - - - e-2 r = O
2
2 2 2 2

K. +-e-2T]
K [ -2T KTe-2T K K ·-2r ] .
-2T l KT + e - - -2- + -4 - -4e =.0
z ,.. z -e .. - +2- - -4
i _,_ [
4 · ... (3)

Equation (3) represents a second order system, it coefficients are,

ao = 1 , .
a1 = -e-2T -l+K½ -¾+¾e -2T

a
2
= e-2T -½KTe-2
2
T +¾-¾e -2T
4 4_
From Jury's stability criterion,_we have,
(i) la2I < a0
(ii) P(l)>O
(iii) P(- I)> O (for n = 2 (even))

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(i) la,I,- < aO· --..
le-n /l/ K-'r. , r I I
- 2 ,e ·- + - K - - Ke-21 < I
4 ·4

1e- os - ½ KTe- o~ + _!_4 K - l_4 Ke- 0~1< I [:, T= 0.4 sec]

I0.4493 - ½ K (0.4) (0.4493) + ¾K - ¾K (0.4493)1 < I

I0.4493 - K (0.0898) + ¾K + 0.1123 K] < I
0.4493 ~ 0.2724K I < ± I

(a) 0.4493 - 0.2724K <~I

0.4493+ I < 0.2724K

5.3204 < K

I :. K > 5.3204 I ... (4)

(b) 0.44'>3 - 0.2724K < I
0A493 - I < 0 .2724 K
-2.0216 < K

I :. K > -2.0216 I
... (5) .
. (ii). P(l) > 0

⇒
I - e-ir - 1 +
. ½. KT - -4I K + -41 .Ke- r + e- r - ½
2 2 l KTe- r +. -I K - -1 Ke- r > 0 ·
2 . 4
2

)4
2

⇒
½KT-½ KTe-2r> 0

½ K(0.1) - ½ K(0.4) (0.4493) > 0 [:. T= 0.41

0.2K -:- 0.0898K > 0

0.1 IOIK > 0

1.-.K>Ol " ... (6)

(iii) P(- 1) > 0

⇒ I + e-2 r + I - ½KT + _!_4 K- l_ Ke- 2r + e-2r - ½ KTe-2r + _!_

4 2 4
K - _!_ Ke-2r >
4
o

2 + 2e-2 r_ ½KT+½ K - ½ Ke-2 r - ½ Kfe-2~> 0

2 + 2 (0.4493) - 0.2K + 0.5 > 0

I. - 0.2246K - 0.0898K > 0 , [:. T = 0.4] ·

3.39> 0.5144K

6.5902 > K

I :. K < 6.5902 I ... (7)

Therefore, from equations (4), (5), (6) and (7), the range of K is given as,

/ -2 .0216<K <6.5902 I

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IJNIT-4 (Stability Analysis)
189

~ corislder the system described by, · . · ·

y(k + 2) = 2y (k + 1) -
5y(k) + 10r(k + 2) - 3r (k + 1) + 4r(k). Where r(k) is the input and y(k) is the output
of the system. Determine the stability of the system .
.., April/May-17, Set-3, <lS(b)
Ans:

2
Y(z) 10z -3z+4
... (3)
R(z) z 2 -2z+5
From equation (3 ), the characteristic equation of the system is given as,
P(z) = z 2 - 2z + 5 ... (4)
.. =az
IJ""
2 +az+a
I 2

Where,
a0 = l
a 1 =-2

a~= 5
Since this is a second order _system, the jury stability ,conditions are as follows,

(i) 1°21 < 0 o

(ii) P(l) > 0
(iii) P(-1) >0, n =.2 = even
On applying first condition for stability, we get, I >.

1°21< 0 o
⇒ 151 < l
Which is not true. Therefore the system is considered to be unstable.
025. Consider the system described by y(k)- 0.6 Y (k -1) - 0.81 Y (k-2) + 0.67 y (k - 3) - 0.12y(k- 4) = x(k).
Where x(k) is the input y(k) is the output of ~he system. Determine the st~bility of the_system.
Ans: (Model Pap_er-lV, Q7 I Sep.-20, .Set-3, QS(b))

Given that, ,
For a sy~tem,
y(k)- 0.6 y(k- 1)- 0.81 y (k-2) + 0.67 y (k- 3) - 0.12y(k- 4) = x(k) ... (I)
On applying Z-transforin to equation ( l), we get,
Y(z) - 0.6z- 1 Y(z) - 0.8 lz-2 Y(z) + 0.67z- 3 Y(z) :- 0. l 2z4 Y(z) = X(z)
I .
Y(z) [ l - 0.6z- 1 - 0.81 z-2 + 0.67 z-3 - 0. l 2z4] = X(z) ·
Y{z) . I
~ --= 3 ~
X(z) 1 2
l-0.6z- -0.8lz- +0.67z- -0.12z

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 190 ~ ,
DIGITAL CONTROL SYSTEMS [JNTU-KAKINADA]
Where, Y(z)/X{z) is the pulse transfer function for the system.

Y(z) z4
-
4
X(z) = z -0.6z 3 -0.81z 2 +0.67z -0.12
Let, '

/'(.z) = z4 ~ 0.6zl - 0.8 lz2 + 0.67z - 0.12 ·

... (2)
On comparing equation (2), with the characteristic equation, P(_z) = aif' + a,z ,,_, + ar 2 + a/,,_3 + a~
Where,

ir = 4 (even), .we get

a0 = l

a, =-0.6
02 = ~ 0.8J
... (3)
03 = 0.67
04 =-0. )2

For a system to be .stable, it must satisfy the jury stability conditions given as,
CoadJtien J : /•./<a,
~ /a4/ < 0 0 (": n =4)
i.e., I:- 0. 12/ < J
0.12 < I
Thus, the condition is satisfied.
Condition 2: P(J) > 0

~ P(I)= (J)4 - 0.6 (J) 3 - 0.81 (1)2 + 0.67 (1 ) - 0.12

= 1-0.6-0.81 +0.67-0.12
· P(J)= 0.14

P(J') > 0

The condition is satisfied and the root lies in the unit circle with centre at origin of the z-plane.
Co■dltton 3:
>0 for n even
P(-1)
. {<Ofor n odd

~P(-1) > 0 ( ·: n =4 (even)J

P(-1) = (-1)4-0.6 (-1) 3 - 0.81 (-1)2 + 0.67 (-1)-0.12

= l-0.6(-J)-0.81(1)+0.67(-1)-0.12
= I +0.6-0.81-0.67-0.12
P(-1) = 0 ... (4)

The condition is not satisfied, equation (4) implies that there exists a root at z = - I .
Co■dl~•• 4: Jb..,J > JbJ

~ /h3/ > /h0/

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~
UNlf-4 (Stability Analysis) 191
Where,

0 12
= 1- i -0\21
= (- 0.12) (- 0.12) - (1)(1) = 0.0144 ·- 1
hl = - 0.9856

= 1-0.12 0.671 .
I -0.~

= (- 0.12) (- 0.6) - (0.~7) (I)

= 0.072 - 0.67
b 0 =- 0.5980

:: 1h 31> lb0I
The condition is satisfied and the r<>?t lies in the unit circle with c~ntre at the origin of the z-plane.

Condition 5: IC ....21> IC,I

~ 1c. _I > IC I
2 0
[ ·: n = 4}

IC2I > !Col

Where,

c2 = 1:: ::I
- 0.9856 - 0.598~
= I-0.5980 -0.98561
= (- 0.9856) (- 0.9856) - (- 0.5980) (- 0.5980)
= 0.9714 - 0.3576
:.C2 = 0.6138

C0 =I~ ~,
= 1-0.9856 0.519~
- 0.5980 0.?()721
= (- 0.9856) (0.9072) - (0.5196) (- 0.5980)

= - 0.8941 + 0.3107

:. cu = - 0.5834
·: IC2l > !Cul
The condition is satisfied and the root lies in the unit circ le with centre 1\1 the origin of the ..:-plane.

Therefore, the system is critically st.able .

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192 DIGITAL CONTROL SYSTEMS [JNTU-KAKINADAJ

Q26. Construct the Jury stablllty table for the followlng characteristic equation

P(z) = a0r :+ .a1z> + •iZ 2 + a,z + a4 where a0 >0. Write the stablllty conditions.
Ans: (Model Paper-IV, QB(a) I Aprll-18, s.t-1, QS(b))

Jur)·'s Stability T~st

for a given diara~·t.:ristic equation f'(z) =0. the J.ury·s stability test cm; be applied by forming a tahlc whose dcrn.:nt~ arc
the coctllcicnt of P(:).
Given. a characteristic equation P(:) which is polynomial in z and is given as.
. .. ( I)

The Jury table constructed using coefficients of equation (I) is as shown in table (I).

Row -z!> zl z2 z3 z.4

I a4 aJ az al ao

2
'
ao al az aJ a..
3 b3 bz bl bo
4 bo b . bz b3
I

5 cz Cl co
-
Table 111: Jury Stability Table

The elements in the first row of the table comprises of P(z) coefficients arranged in ascending orders of powers of z,
whereas, the elements in the second row consists of coefficients arranged in the descending order of powers of z.

The elements of row •3' to row '5 ' can be determined from the determinants given as,

b = Ian an_-l-kl fork= 0, I, 2, 3

. k ao ak+l

ck = bbn-l bn-2-kl fork= 0, I, 2,

l 0 bk+l
Where, n =4

Jbe last row of the table consists of only 3 elements. Also, the elements of any even-numbered row are equivalent to. the
reverse of their immediately preceding odd numbered row. ·

Jury's Stability Criterion

A system w ith characteristic equation,

P(z) = a,14 + al + azZ2 + a~ + a4 is stable only if it satisfies the conditions given <IS,

(iv) /b3' > /b0 /

/czl > /c0 /
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 Y,,,--- ·
uNIT-4 (Stability Analysis) _ ~93

~ e n t l y -Asked & J m p o r t a ~

01 . Explain the relationship between· the S-plane and the Z-plane.

Ans: Refer QI . . .
(July-21, Set-1, Q5(a) I Sept.-20, Set-4, Q5(a) I April/May-17, Set-1; Q1(d) I April/May-16, Set-4, Q6(a))

Q2. Write about the primary strips and complementary strips with neat schematic.

(Sep.-20, Set-2, Q1(d) I Aprll-18, Set-1 , Q1(e)·I April/May-17, Set-2, Q1(d)

Ans: Refer Q3 . Aprtl/May-17, Set-4, Q5(a) I Nov./Dec.-12, Q6(a))

Q3. Determine F(z) lz=e•T in· terms of F(s). Using this r~sult, explain the relationship
between the z-plane and the· s-plane.

Ans: Refer Q6. (April-18, Set:.f, Q5(a) I April-15, Set-1, Q6(b))

Q4. Write. about the modified Routh's stability criterion. .

.

Ans: Refer Q9. (July-21 , Set-3, Q5(a) I April-18 , Set-2, Q5(a))

=
Q5. · Consider the following characteristic equation P(z) z-' - 1.368 z 3 + o.4z + 0.08z + 0.002
2 =0.
Determine whether or not any of the roots of the characteristic equation lies outside the ==1
..,,_..,,,=
unit circle in the Z-plane. · 2
TIMES
Ans: Refer QI I. (April/May-17, Set-4, Q5(b) I April-11, Set-4, Q3(b)) -•-=--==

Q6: · State and explain Jury's stability test.

. Ans: . Refer QI6.

Q7.
•• • J
(July-21 , Set-1, Q5(b) I April/May-17, Set-2, QS(a) I April-15, Set-3, Q6(a) I April/May-14, Set-3, Q6(b)

Sept.-20, Set-1, QS(a) I April/May-17, Set-3, Q1(d)

•

Using Jury's stability criterion find the ·range of k, for which the characteristic equation
'
I
I
April/May-17, Set-4, Q1(d)) 1W
z3 + kz2 + 1.5 kz - (k + 1) = 0 is closed loop stable. fl47
¢~
Ans: ,Refer Q19. (April/May-16! Set-1, Q6(b) I April-15, Set-2: Q6(b) I Nov./Dec.-12, (R09), Q6(b) I May-10, Set-3, Q6(b))

QB. Determine the stability of the characteristic equations by using Jury's stability tests
.

5z 2 - 2z + 2 = 0._
s
Ans: Refer Q20. (April-J S, Set-1, Q1(d) I April-18, Set-2, Q1(d) I April-18, Set-3, Q1(di I April-15, Set-2, Q6)

Q9. Consider the discrete time unity feedback control system (T = 1 sec) whose open loop
pulse transfer function is given by, ·
K(0.3679z + 0.2642)
G(z) = (z - 0.3679)(z -1)
Determine the range of K for stability by use of the Jury s_tability test.

Ans: Refer Q21 .

(i) z 3 + 3.3z2 + 4z + 0.8 = 0

(Sept.-20, Set-4, Q5(b) I April/May-17, Set-1, Q5(b) I April/May-14, Set-2, Q6(b))

QjO. Using Jury's stability criterion'. determine the stability of the following discrete time systems. · w
121 ·
•
:· ~
(ii) z 3 -1.1z 2 -0.1z+0.2=0.

Ans: Refer Q22 . (April-18, Set-2, Q5(b) I April/May-14, Set-3, Q6(b))

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19 4 L svsTENIS {JNTU-KAKINAD
A]
DIGITAL c o N T ~ -~
- ~ - - - -• •;-.~~~.i"iiiii! ----- ------

1l@iil3Ml·Ui%-1i .
. , +Sk • ois closed loop stable.
U1 . Usm11 Jury s stab1.l1ty
. . . .
cntenon find the ran11e of k tor whi.ch ·f
2 1
the characteris ic equation -zl +Sz -
Cl2. The characteristic equation of a sam
pled data system is given by,
3
2z +r +z +l •0
1

Oetennine the stability of the system

usin11 Routh-Hurwitz criterion .
U3. Check the stability of a system who
se open loop transfer function is given as,
Glzl ~ 0.2z + 0.5
z2 -1 .2z + 0.2

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.... . , .. . ..
.....•"•• •" ·.