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351 - 27435 - EE419 - 2020 - 1 - 2 - 1 - 14 EE419 Lec14 Jury Stability
351 - 27435 - EE419 - 2020 - 1 - 2 - 1 - 14 EE419 Lec14 Jury Stability
Lecture
Jury Stability
Emam Fathy
email: emfmz@aast.edu
http://www.aast.edu/cv.php?disp_unit=346&ser=68525
1
Lecture Outline
• Introduction
• Asymptotic Stability
• BIBO Stability
• Internal Stability
𝑧: 𝑧 < 1 𝑟=1
𝑧: 𝑧 ≤ 1
Unit Disc: A disc with radius 1.
5
Asymptotic Stability
• Consider a LTI system governed by difference equation
𝑦 𝑘 + 𝑛 + 𝑎𝑛−1 𝑦 𝑘 + 𝑛 − 1 + ⋯ + 𝑎1 𝑦 𝑘 + 1 + 𝑎0 𝑦 𝑘
= 𝑏𝑚 𝑢 𝑘 + 𝑚 + 𝑏𝑚−1 𝑢 𝑘 + 𝑚 − 1 + ⋯ + 𝑏1 𝑢 𝑘 + 1 + 𝑏0 𝑢 𝑘
where 𝑘 = 1,2,3 …
• With initial conditions 𝑦 0 , 𝑦 1 , … 𝑦(𝑛 − 1).
6
Asymptotic Stability
𝑁(𝑧)
𝑌 𝑧 = 𝑛
𝑧 + 𝑎𝑛−1 𝑧 𝑛−1 + ⋯ + 𝑎1 𝑧1 + 𝑎0
• Because transfer function zeros arise from transforming the input
terms, they have no influence on the response due to the initial
conditions.
• The denominator of the output z-transform is the same as the
denominator of the z-transfer function in the absence of pole-zero
cancellation.
• Hence, the poles of the function Y(z) are the poles of the system
transfer function.
• Thus, the output due to the initial conditions is bounded for system
poles in the closed unit disc with no repeated poles on the unit
circle. It decays exponentially for system poles in the open unit disc
(i.e., inside the unit circle). 7
Example-1
• Determine the asymptotic stability of the following
systems:
4(𝑧−2)
1. 𝐻 𝑧 = (𝑧−2)(𝑧−0.1)
4(𝑧−0.2)
2. 𝐻 𝑧 = (𝑧−0.2)(𝑧−0.1)
5(𝑧−0.3)
3. 𝐻 𝑧 = (𝑧−0.2)(𝑧−0.1)
8(𝑧−0.2)
4. 𝐻 𝑧 = (𝑧−0.1)(𝑧−1)
8
BIBO Stability
• The second definition of stability concerns the forced response
of the system for a bounded input.
𝑦 𝑘 = ℎ 𝑘 − 𝑖 𝑢 𝑖 , 𝑘 = 0,1, 2, …
𝑖=0
• Where ℎ(𝑘) is impulse response sequence.
11
Asymptotic vs. BIBO Stability
• LTI systems, with no pole-zero cancellation,
BIBO and asymptotic stability are equivalent
and can be investigated using the same tests.
12
Internal Stability
• So far, we have only considered stability as applied
to an open-loop system.
15
Routh-Hurwitz Criterion
• The Routh-Hurwitz criterion determines conditions for left half
plane (LHP) polynomial roots and cannot be directly used to
investigate the stability of discrete-time systems.
𝐹 𝑧 = 𝑎𝑛 𝑧 𝑛 + 𝑎𝑛−1 𝑧 𝑛−1 + ⋯ + 𝑎𝑜
1+𝑤
• Using the bilinear transformation 𝑧 =
1−𝑤
1+𝑤 𝑛 1 + 𝑤 𝑛−1
𝐹 𝑤 = 𝑎𝑛 ( ) +𝑎𝑛−1 ( ) + ⋯ + 𝑎𝑜
1−𝑤 1−𝑤
18
Example-2
• Routh array can now be developed from the transformed
characteristic equation.
0.75𝑤 2 + 2.5𝑤 + 0.75 = 0
𝑤2 0.75 0.75
𝑤1 2.5 0
𝑤0 0.75
19
Example-3
• By using Routh-Hurwitz stability criterion, determine the
stability of the following digital systems whose characteristic
are given as.
𝑧 3 − 1.2𝑧 2 − 1.375𝑧 − 0.25 = 0
Solution
20
Example-3
• Routh array can now be developed from the transformed
characteristic equation.
−1.875𝑤 3 + 3.875𝑤 2 + 4.875𝑤 + 1.125 = 0
𝑤3 -1.875 4.875
𝑤2 3.875 1.125
𝑤1 5.419 0
𝑤0 1125
• From the table above, since there is one sign change in the
first column above equation has one root in the right-half of
the w-plane.
24
Jury’s Stability Test
• The entries of the table are calculated as follows
𝑎𝑜 𝑎𝑛−𝑘
𝑏𝑘 = 𝑎 𝑎𝑘 , 𝒌 = 𝟎, 𝟏, … , 𝒏 − 𝟏
𝑛
𝑏𝑜 𝑏𝑛−𝑘
𝑐𝑘 = , 𝒌 = 𝟎, 𝟏, … , 𝒏 − 𝟐
𝑏𝑛 𝑏𝑘
𝑠𝑜 𝑠3 𝑠𝑜 𝑠2 𝑠𝑜 𝑠1
𝑟𝑜 = 𝑠 𝑠𝑜 , 𝑟1 = 𝑠 𝑠1 , 𝑟2 = 𝑠3 𝑠2
3 3
25
Example-4
• Test the stability of the polynomial.
𝐹 𝑧 = 𝑧 5 + 2.6𝑧 4 − 0.56𝑧 3 − 2.05𝑧 2 + 0.0775𝑧 + 0.35
Solution
Row 𝒛𝟎 𝒛𝟏 𝒛𝟐 𝒛𝟑 𝒛𝟒 𝒛𝟓
1 0.35 0.0775 -2.05 -0.56 2.6 1
2 1 2.6 -0.56 -2.05 0.0775 0.35
3 𝑏𝑜 𝑏1 𝑏2 𝑏3 𝑏4
4 𝑏4 𝑏3 𝑏2 𝑏1 𝑏𝑜
5 𝑐𝑜 𝑐1 𝑐2 𝑐3
6 𝑐3 𝑐2 𝑐1 𝑐𝑜
7 𝑑𝑜 𝑑1 𝑑2
26
Example-4 Row
Row
𝟎
𝒛𝒛𝟎
𝟏
𝒛𝒛𝟏
𝟐
𝒛𝒛𝟐
𝟑
𝒛𝒛𝟑
𝟒
𝒛𝒛𝟒 𝒛𝒛𝟓
𝟓
11 0.35
0.35 0.0775
0.0775 -2.05
-2.05 -0.56
-0.56 2.6
2.6 11
22 11 2.6
2.6 -0.56
-0.56 -2.05 0.0775
-2.05 0.0775 0.35
0.35
33 𝑏𝑜 𝑏1 𝑏2
−0.8775−2.5728−0.1575 𝑏3
1.854 𝑏4
0.8352
• 3rd row is calculated using
44 𝑏𝑏44 𝑏𝑏33 𝑏𝑏22 𝑏𝑏11 𝑏𝑏𝑜𝑜
𝑎𝑜 𝑎𝑛−𝑘
𝑏𝑘 = 𝑎 55 𝑐𝑐𝑜𝑜 𝑐𝑐11 𝑐𝑐22 𝑐𝑐33
𝑛 𝑎𝑘 66 𝑐𝑐33 𝑐𝑐22 𝑐𝑐11 𝑐𝑐𝑜𝑜
77 𝑑𝑑𝑜𝑜 𝑑𝑑11 𝑑𝑑22
𝑎𝑜 𝑎5 0.35 1
𝑏𝑜 = 𝑎 𝑎𝑜 = = −0.8775
5 1 0.35
𝑎𝑜 𝑎4 0.35 2.6
𝑏1 = 𝑎 𝑎1 = = −2.5728
𝟓 1 0.0775
𝑎𝑜 𝑎3 0.35 −0.56
𝑏2 = 𝑎 𝑎2 = = −0.1575
𝟓 1 −2.05
𝑎𝑜 𝑎2 0.35 −2.05
𝑏3 = 𝑎 𝑎3 = = 1.854
𝟓 1 −0.56
𝑎𝑜 𝑎1 0.35 0.0775
𝑏4 = 𝑎 𝑎4 = = 0.8352 27
𝟓 1 2.6
Example-4
• 4rth row is same as 3rd row in reverse order
Row 𝒛𝟎 𝒛𝟏 𝒛𝟐 𝒛𝟑 𝒛𝟒 𝒛𝟓
1 0.35 0.0775 -2.05 -0.56 2.6 1
2 1 2.6 -0.56 -2.05 0.0775 0.35
3 −0.8775 −2.5728 −0.1575 1.854 0.8352
4 0.8352 1.854 −0.1575 −2.5728 −0.8775
5 𝑐𝑜 𝑐1 𝑐2 𝑐3
6 𝑐3 𝑐2 𝑐1 𝑐𝑜
7 𝑑𝑜 𝑑1 𝑑2
28
Example-4
• 5th row is calculated using
𝑏𝑜 𝑏𝑛−𝑘
𝑐𝑘 =
𝑏𝑛 𝑏𝑘
Row 𝒛𝟎 𝒛𝟏 𝒛𝟐 𝒛𝟑 𝒛𝟒 𝒛𝟓
1 0.35 0.0775 -2.05 -0.56 2.6 1
2 1 2.6 -0.56 -2.05 0.0775 0.35
3 −0.8775 −2.5728 −0.1575 1.854 0.8352
4 0.8352 1.854 −0.1575 −2.5728 −0.8775
5 0.077 0.7143 0.2693 0.5151
6 𝑐3 𝑐2 𝑐1 𝑐𝑜
7 𝑑𝑜 𝑑1 𝑑2 29
Example-4
• 6th row is same as 5th row in reverse order
Row 𝒛𝟎 𝒛𝟏 𝒛𝟐 𝒛𝟑 𝒛𝟒 𝒛𝟓
1 0.35 0.0775 -2.05 -0.56 2.6 1
2 1 2.6 -0.56 -2.05 0.0775 0.35
3 −0.8775 −2.5728 −0.1575 1.854 0.8352
4 0.8352 1.854 −0.1575 −2.5728 −0.8775
5 0.077 0.7143 0.2693 0.5151
6 0.5151 0.2693 0.7143 0.077
7 𝑑𝑜 𝑑1 𝑑2
30
Example-4
• 7th row is calculated using
𝑑𝑜 𝑑𝑛−𝑘
𝑑𝑘 =
𝑑𝑛 𝑑𝑘
Row 𝒛𝟎 𝒛𝟏 𝒛𝟐 𝒛𝟑 𝒛𝟒 𝒛𝟓
1 0.35 0.0775 -2.05 -0.56 2.6 1
2 1 2.6 -0.56 -2.05 0.0775 0.35
3 −0.8775 −2.5728 −0.1575 1.854 0.8352
4 0.8352 1.854 −0.1575 −2.5728 −0.8775
5 0.077 0.7143 0.2693 0.5151
6 0.5151 0.2693 0.7143 0.077
7 −0.2593 −0.0837 −0.3472
31
Example-4
• Now we need to evaluate following conditions
𝟏 . 𝐹 1 >0 𝟏 . 𝐹 1 >0
𝟐 . (−1)𝑛 𝐹 −1 > 0 𝟐 . (−1)5 𝐹 −1 > 0
𝟑 . 𝑎𝑜 < 𝑎𝑛 𝟑 . 𝑎𝑜 < 𝑎5
𝟒 . 𝑏0 > 𝑏𝑛−1 𝟒 . 𝑏0 > 𝑏4
32
Example-4
• The first two conditions require the evaluation of F(z) at z = ±1.
𝟏 . 𝐹 1 >0 Satisfied
33
Example-4
• Next four conditions require Jury’s table
Row 𝒛𝟎 𝒛𝟏 𝒛𝟐 𝒛𝟑 𝒛𝟒 𝒛𝟓
1 0.35 0.0775 -2.05 -0.56 2.6 1
2 1 2.6 -0.56 -2.05 0.0775 0.35
3 −0.8775 −2.5728 −0.1575 1.854 0.8352
4 0.8352 1.854 −0.1575 −2.5728 −0.8775
5 0.077 0.7143 0.2693 0.5151
6 0.5151 0.2693 0.7143 0.077
7 −0.2593 −0.0837 −0.3472
35
Example-5
Test the stability of the polynomial.
𝐹 𝑧 = 𝑧 2 − 0.25
Solution
Row 𝒛𝟎 𝒛𝟏 𝒛𝟐
1 -0.25 0 1
𝟏 . 𝐹 1 >0 Satisfied
Row 𝒛𝟎 𝒛𝟏 𝒛𝟐
1 -0.25 0 1
𝟑 . 𝑎𝑜 < 𝑎2 Satisfied
38
End of Lec
39