Course Name: Digital Control Systems Lecture (6)

Course Code: EEC 161

Level: 2 Prepared by:
Dr. Mohammed Morad Salama

Jury stability test

Jury test
It is possible to investigate the stability of z-domain polynomials directly using the Jury test for real
coefficients.
For given pulse transfer function of a digital control system;
𝐶(𝑧)
𝑇. 𝐹 =
𝑃(𝑧)
The poles is obtained from;
𝑃(𝑧) = 𝑎𝑜 𝑧 𝑛 + 𝑎1 𝑧 𝑛−1 + 𝑎2 𝑧 𝑛−2 + ⋯ + 𝑎𝑛−1 𝑧 + 𝑎𝑛 = 0
Jury stability test is applied to determine if the system is stable or not as follows:
Before test, 𝑎𝑜 should be positive (+ve) value. Then, the system is stable if all of the following four
conditions achieved:
1- |𝑎𝑛 | < 𝑎0
2- 𝑃(1) > 0
3- 𝑃(−1) > 0 if 𝑛 is even, or 𝑃(−1) < 0 if 𝑛 is odd.
4-
𝒂𝒏 𝒂𝒏−𝟏 …………… 𝒂𝟏 𝒂𝟎
𝒂𝟎 𝒂𝟏 …………… 𝒂𝒏−𝟏 𝒂𝒏
𝒃𝒏−𝟏 = (𝒂𝒏 ∗ 𝒂𝒏 ) − (𝒂𝒐 ∗ 𝒂𝒐 ) 𝒃𝒏−𝟐 = (𝒂𝒏 ∗ 𝒂𝒏−𝟏 ) − (𝒂𝟏 ∗ 𝒂𝒐 ) …………… 𝒃𝒐 = (𝒂𝒏 ∗ 𝒂𝟏 ) − (𝒂𝒏−𝟏 ∗ 𝒂𝒐 )
𝒃𝒐 …………… 𝒃𝒏−𝟐 𝒃𝒏−𝟏
𝒄𝒏−𝟐 = (𝒃𝒏−𝟏 ∗ 𝒃𝒏−𝟏 ) − (𝒃𝒐 ∗ 𝒃𝒐 ) 𝒄𝒏−𝟑 = (𝒃𝒏−𝟏 ∗ 𝒃𝒏−𝟐 ) − (𝒃𝟏 ∗ 𝒃𝒐 ) …………… 𝒄𝟎
𝒄𝟎 𝒄𝟏 𝒄𝒏−𝟑 𝒄𝒏−𝟐
𝒒𝟐 𝒒𝟏 𝒒𝟎 Stop

Then, after each step for each new row, the absolute value of first coefficient must be > the absolute
value of last coefficient, (|𝑏𝑛−1 | > |𝑏0 | & |𝑐𝑛−1 | > |𝑐0 | & |𝑞2 | > |𝑞0 | and so on).

Hint: Stop iterations when only 3 coefficients are obtained.

Reference book:
“Digital Control Engineering - Analysis and Design”, M. Sami Fadali & A. Visioli, 3rd edition, 2019, Published by Elsevier.
Chapter 4: Stability of Digital Control System.
Page 1 of 12
 Course Name: Digital Control Systems Lecture (6)
Course Code: EEC 161
Level: 2 Prepared by:
Dr. Mohammed Morad Salama

Example 6-1
For given characteristic equation for a digital control system:

𝑷(𝒛) = 𝒛𝟒 − 𝟏. 𝟐 𝒛𝟑 + 𝟎. 𝟎𝟕 𝒛𝟐 + 𝟎. 𝟑 𝒛 − 𝟎. 𝟎𝟖
i) Check the stability of the system using Jury stability.
ii) Write the MATLAB command to obtain the poles of the system and to ensure your
check.

Solution
Point (i):
Ensure that, the coefficient of highest order is positive, then:
1- |−0.08| < 1
2- 𝑃(1) = (1)4 − 1.2 (1)3 + 0.07 (1)2 + 0.3 (1) − 0.08 = 0.09 > 0
3- 𝑃(−1) = (−1)4 − 1.2 (−1)3 + 0.07 (−1)2 + 0.3 (−1) − 0.08 = 1.89 > 0 & 𝑛 is even
4-
−𝟎. 𝟎𝟖 𝟎. 𝟑 𝟎. 𝟎𝟕 −𝟏. 𝟐 𝟏

𝟏 −𝟏. 𝟐 𝟎. 𝟎𝟕 𝟎. 𝟑 −𝟎. 𝟎𝟖

(−𝟎. 𝟎𝟖 ∗ −𝟎. 𝟎𝟖) − (𝟏 ∗ 𝟏) (−𝟎. 𝟎𝟖 ∗ 𝟎. 𝟑) − (−𝟏. 𝟐 ∗ 𝟏) (−𝟎. 𝟎𝟖 ∗ 𝟎. 𝟎𝟕) − (𝟎. 𝟎𝟕 ∗ 𝟏) (−𝟎. 𝟎𝟖 ∗ −𝟏. 𝟐) − (𝟎. 𝟑 ∗ 𝟏)
= −𝟎. 𝟗𝟗𝟑𝟔 = 𝟏. 𝟏𝟕𝟔 = −𝟎. 𝟎𝟕𝟓𝟔 = −𝟎. 𝟐𝟎𝟒

−𝟎. 𝟐𝟎𝟒 −𝟎. 𝟎𝟕𝟓𝟔 𝟏. 𝟏𝟕𝟔 −𝟎. 𝟗𝟗𝟑𝟔

(−𝟎. 𝟗𝟗𝟑𝟔 ∗ −𝟎. 𝟗𝟗𝟑𝟔) (−𝟎. 𝟗𝟗𝟑𝟔 ∗ 𝟏. 𝟏𝟕𝟔) (−𝟎. 𝟗𝟗𝟑𝟔 ∗ −𝟎. 𝟎𝟕𝟓𝟔)
− (−𝟎. 𝟐𝟎𝟒 ∗ −𝟎. 𝟐𝟎𝟒) − (−𝟎. 𝟐𝟎𝟒 ∗ −𝟎. 𝟎𝟕𝟓𝟔) − (−𝟎. 𝟐𝟎𝟒 ∗ 𝟏. 𝟏𝟕𝟔) Stop at 3 coefficients
= 𝟎. 𝟗𝟒𝟓𝟔 = −𝟏. 𝟏𝟖𝟒 = 𝟎. 𝟑𝟏𝟓

All of four conditions achieved, thus the system is stable.

Reference book:
“Digital Control Engineering - Analysis and Design”, M. Sami Fadali & A. Visioli, 3rd edition, 2019, Published by Elsevier.
Chapter 4: Stability of Digital Control System.
Page 2 of 12
 Course Name: Digital Control Systems Lecture (6)
Course Code: EEC 161
Level: 2 Prepared by:
Dr. Mohammed Morad Salama

Point (ii):
The MATLAB command is:
roots([1,-1.2,0.07,0.3,-0.08])
the results:
ans =
-0.5000
0.8000
0.5000
0.4000

Reference book:
“Digital Control Engineering - Analysis and Design”, M. Sami Fadali & A. Visioli, 3rd edition, 2019, Published by Elsevier.
Chapter 4: Stability of Digital Control System.
Page 3 of 12
 Course Name: Digital Control Systems Lecture (6)
Course Code: EEC 161
Level: 2 Prepared by:
Dr. Mohammed Morad Salama

Example 6-2
For given characteristic equation for a digital control system:

𝑷(𝒛) = 𝒛𝟑 − 𝟏. 𝟏 𝒛𝟐 − 𝟎. 𝟏 𝒛 + 𝟎. 𝟐
i) Check the stability of the system using Jury stability.
ii) Write the MATLAB command to obtain the poles of the system and to ensure your
check.

Solution
Point (i):
Ensure that, the coefficient of highest order is positive, then:
1- |0.2| < 1
2- 𝑃(1) = (1)3 − 1.1 (1)2 − 0.1 (1) + 0.2 = 0, 𝑁𝑜𝑡 > 0
That means there is one pole or more = 1, on the unite circle of z-plane (critical stable state). So
if other two conditions achieved, the system will be critical stable.
3- 𝑃(−1) = (−1)3 − 1.1 (−1)2 − 0.1 (−1) + 0.2 = −1.8 < 0 & 𝑛 is odd
4-
𝟎. 𝟐 −𝟎. 𝟏 −𝟏. 𝟏 𝟏

𝟏 −𝟏. 𝟏 −𝟎. 𝟏 𝟎. 𝟐

(𝟎. 𝟐 ∗ 𝟎. 𝟐) − (𝟏 ∗ 𝟏) = −𝟎. 𝟗𝟔 (𝟎. 𝟐 ∗ −𝟎. 𝟏) − (−𝟏. 𝟏 ∗ 𝟏) = 𝟏. 𝟎𝟖 (𝟎. 𝟐 ∗ −𝟏. 𝟏) − (−𝟎. 𝟏 ∗ 𝟏) = −𝟎. 𝟏𝟐 Stop at 3 coefficients

Thus the system is critical stable.

Reference book:
“Digital Control Engineering - Analysis and Design”, M. Sami Fadali & A. Visioli, 3rd edition, 2019, Published by Elsevier.
Chapter 4: Stability of Digital Control System.
Page 4 of 12
 Course Name: Digital Control Systems Lecture (6)
Course Code: EEC 161
Level: 2 Prepared by:
Dr. Mohammed Morad Salama

Point (ii):
The MATLAB command is:
roots([1,-1.1,-0.1,0.2])
the results:
ans =
1.0000
-0.4000
0.5000

Reference book:
“Digital Control Engineering - Analysis and Design”, M. Sami Fadali & A. Visioli, 3rd edition, 2019, Published by Elsevier.
Chapter 4: Stability of Digital Control System.
Page 5 of 12
 Course Name: Digital Control Systems Lecture (6)
Course Code: EEC 161
Level: 2 Prepared by:
Dr. Mohammed Morad Salama

Example 6-3
For given characteristic equation for a digital control system:

𝑷(𝒛) = 𝒛𝟑 − 𝟏. 𝟑 𝒛𝟐 − 𝟎. 𝟎𝟖 𝒛 + 𝟎. 𝟐𝟒
i) Check the stability of the system using Jury stability.
ii) Write the MATLAB command to obtain the poles of the system and to ensure your
check.

Solution
Point (i):
Ensure that, the coefficient of highest order is positive, then:
1- |0.24| < 1
2- 𝑃(1) = (1)3 − 1.3 (1)2 − 0.08 (1) + 0.24 = −0.14 < 0, 𝑁𝑜𝑡 > 0

Thus the system is unstable.

Point (ii):
The MATLAB command is:
roots([1,-1.3,-0.08,0.24])
the results:
ans =
1.2000
0.5000
-0.4000

Reference book:
“Digital Control Engineering - Analysis and Design”, M. Sami Fadali & A. Visioli, 3rd edition, 2019, Published by Elsevier.
Chapter 4: Stability of Digital Control System.
Page 6 of 12
 Course Name: Digital Control Systems Lecture (6)
Course Code: EEC 161
Level: 2 Prepared by:
Dr. Mohammed Morad Salama

Example 6-4
For given characteristic equation for a digital control system:

𝑷(𝒛) = 𝒛𝟐 + 𝟎. 𝟐𝟓
i) Check the stability of the system using Jury stability.
ii) Write the MATLAB command to obtain the poles of the system and to ensure your
check.

Solution
Point (i):
Ensure that, the coefficient of highest order is positive, then:
1- |0.25| < 1
2- 𝑃(1) = (1)2 + 0.25 = 1.25 > 0
3- 𝑃(−1) = (−1)2 + 0.25 = 1.25 > 0 & 𝑛 is even
4-
0.25 0 1

1 0 0.25 Stop at 3 coefficients

Thus the system is stable.

Point (ii):
The MATLAB command is:
roots([1,0,0.25])

Reference book:
“Digital Control Engineering - Analysis and Design”, M. Sami Fadali & A. Visioli, 3rd edition, 2019, Published by Elsevier.
Chapter 4: Stability of Digital Control System.
Page 7 of 12
 Course Name: Digital Control Systems Lecture (6)
Course Code: EEC 161
Level: 2 Prepared by:
Dr. Mohammed Morad Salama

the results:
ans =
0.0000 + 0.5000i
0.0000 - 0.5000i

[theta, rho] = cart2pol(real(ans), imag(ans))

theta =
1.5708
-1.5708

rho =
0.5000
0.5000
Hint:
1.5708 radian = 90 degrees
-1.5708 radian = - 90 degrees

Reference book:
“Digital Control Engineering - Analysis and Design”, M. Sami Fadali & A. Visioli, 3rd edition, 2019, Published by Elsevier.
Chapter 4: Stability of Digital Control System.
Page 8 of 12
 Course Name: Digital Control Systems Lecture (6)
Course Code: EEC 161
Level: 2 Prepared by:
Dr. Mohammed Morad Salama

Example 6-5
For given characteristic equation for a digital control system:

𝑷(𝒛) = 𝒛𝟑 − 𝟓 𝒛𝟐 + 𝟑 𝒛 + 𝟐
i) Check the stability of the system using Jury stability.
ii) Write the MATLAB command to obtain the poles of the system and to ensure your
check.
Solution
Point (i):
Ensure that, the coefficient of highest order is positive, then:
1- |2| 𝑛𝑜𝑡 < 1
Thus the system is unstable.

Point (ii):
The MATLAB command is:
roots([1,-5,3,2])
the results:
ans =
4.1642
1.2271
-0.3914

Reference book:
“Digital Control Engineering - Analysis and Design”, M. Sami Fadali & A. Visioli, 3rd edition, 2019, Published by Elsevier.
Chapter 4: Stability of Digital Control System.
Page 9 of 12
 Course Name: Digital Control Systems Lecture (6)
Course Code: EEC 161
Level: 2 Prepared by:
Dr. Mohammed Morad Salama

Example 6-6
For given characteristic equation for a digital control system:

𝑷(𝒛) = − 𝒛𝟑 + 𝟑. 𝟔 𝒛𝟐 − 𝟒 𝒛 + 𝟏. 𝟔
i) Check the stability of the system using Jury stability.
ii) Write the MATLAB command to obtain the poles of the system and to ensure your
check.

Solution
Point (i):
Ensure that, the coefficient of highest order is positive by multiply by (-1):
𝑃(𝑧) = 𝑧 3 − 3.6 𝑧 2 + 4 𝑧 − 1.6
then:
1- |−1.6|, 𝑛𝑜𝑡 < 1
Thus the system is unstable.

Point (ii):
The MATLAB command is:
roots([1,-3.6,4,-1.6])
the results:
ans =
2.0000 + 0.0000i
0.8000 + 0.4000i

Reference book:
“Digital Control Engineering - Analysis and Design”, M. Sami Fadali & A. Visioli, 3rd edition, 2019, Published by Elsevier.
Chapter 4: Stability of Digital Control System.
Page 10 of 12
 Course Name: Digital Control Systems Lecture (6)
Course Code: EEC 161
Level: 2 Prepared by:
Dr. Mohammed Morad Salama

0.8000 - 0.4000i
[theta, rho] = cart2pol(real(ans), imag(ans))
theta =
0
0.4636
-0.4636

rho =
2.0000
0.8944
0.8944
Hint:
0 radian = 0 degrees
0.4636 radian = 26.6 degrees
-0.4636 radian = - 26.6 degrees

Reference book:
“Digital Control Engineering - Analysis and Design”, M. Sami Fadali & A. Visioli, 3rd edition, 2019, Published by Elsevier.
Chapter 4: Stability of Digital Control System.
Page 11 of 12
 Course Name: Digital Control Systems Lecture (6)
Course Code: EEC 161
Level: 2 Prepared by:
Dr. Mohammed Morad Salama

Assignment

Check the stability using Jury stability & write the MATLAB command to obtain the poles
of the system and to ensure your check for the following characteristic equations:

i) 𝑷(𝒛) = 𝒛𝟑 − 𝟏. 𝟏 𝒛𝟐 + 𝟎. 𝟎𝟏 𝒛 + 𝟎. 𝟒𝟎𝟓
ii) 𝑷(𝒛) = 𝒛𝟒 + 𝟐. 𝟓 𝒛𝟑 + 𝟐. 𝟏 𝒛𝟐 + 𝟎. 𝟓 𝒛 + 𝟎. 𝟎𝟒
iii) 𝑷(𝒛) = 𝒛𝟔 + 𝟑. 𝟔 𝒛𝟓 + 𝟒. 𝟎𝟓 𝒛𝟒 + 𝟐. 𝟖𝟓 𝒛𝟑 + 𝟐. 𝟏𝟓 𝒛𝟐 − 𝟎. 𝟕𝟓 𝒛 − 𝟎. 𝟗

Reference book:
“Digital Control Engineering - Analysis and Design”, M. Sami Fadali & A. Visioli, 3rd edition, 2019, Published by Elsevier.
Chapter 4: Stability of Digital Control System.
Page 12 of 12