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Lecture 6 Part B
Lecture 6 Part B
Additional Slides
Outline
We will discuss in today’s lecture:
Definitions of Stability
Feedback
Elements in control systems: Properties of control systems:
System/Plant • Stability
Sensors
• Performance
Actuators
• Robustness
Controllers
If you set
your car
with
100km/h
with cruse
control on
the
highway,
what is that
1000km/h
call?
B. Etkin and L. D. Reid, Dynamics of Flight: Stability and Control, 3rd ed., Wiley, 1996.
What is Stability about?
Example of a Cone
R. C. Dorf and R. H. Bishop, Modern Control Systems, 10th ed., Prentice Hall, 2004
What is Stability about?
Stability vs. Control (Demo)
Stability and Control are often discussed together. They are empowered by the
same aircraft structure but are two separate concepts. Here we focus mainly on
the discussion to the stability. Then how is the stability defined?
Definitions of Stability
N. S. Nise, Control System Engineering, 3rd ed., John Wiley & Sons, Inc., 2000, pp. 176-178.
Natural vs. Forced Response
N. S. Nise, Control System Engineering, 3rd ed., John Wiley & Sons, Inc., 2000, pp. 176-178.
Definitions of Stability (Aircraft Case)
Static Stability vs. Dynamic Stability
Stability: In the case of an aircraft, stability usually refers to the ability of the
aircraft to get rid of a disturbance and return the aircraft to equilibrium (or trim
condition).
Example: Consider the case when an aircraft is flying straight and level. If a
sudden gust pitches up the aircraft nose and vanishes (causing an increase in the
angle of attack), the aircraft can respond (without any pilot input) as following three
ways:
Stable: If the aircraft returns to equilibrium (the nose comes down)
Unstable: If the aircraft continues to move away from equilibrium (the nose
continues to pitch up)
Neutrally Stable: The aircraft is able to establish a new equilibrium state
(continuously to hold the nose in the new pitched up state)
Two Types of Stability:
Static Stability: The initial tendency of the aircraft to return to equilibrium
following a perturbation from a steady-state flight condition
Dynamic Stability (Stability of Motion): The aircraft should return to
equilibrium in time. Dynamic stability focuses on the time history of aircraft motion
after the aircraft is disturbed from an equilibrium or trim condition
http://www.rit.edu/~pnveme/EMEM682n/StaticStab/index_StatStab.html
Methods for Stability Analysis
According to the definitions – based on time response
For LTI
Definition of systems, however,
Stability Based on NaturaltheResponse:
stability requirement
may
– A be defined
LTI (Linear in terms
Time-Invariant) of the
system locations
is stable of the
if the natural poles
(un-forced)
of the closed-loop
response approaches zerotransfer
as time function,
approaches i.e. the roots of
infinity
the
– A LTIcharacteristic
system is unstableequation,
if the natural which can
response be without bound as
grows
demonstrated
time in the next slide
approaches infinity
– A–LTI
Asystem
system is stablestable
is marginally if allifthe poles response
the natural of the closed-
neither decays
nor loop
grows,transfer
but remains constant are
function or oscillates
in the as time approaches
left-hand side ofinfinity
the s-plane
Definition of Stability Based on Total Response – Bounded-Input
Bounded-Output (BIBO) Stability:
Another method is available to test for stability
– A system is BIBO stable if every bounded input yields a bounded output
without having to solve for the roots of the
characteristic equation (Δ(s)=0) – Routh-Hurwitz
– A system is BIBO unstable if any bounded input yields an unbounded
output
(Stability) Criterion
Impulse responses versus locations of closed-
loop poles in s-plane
(The conjugate pole is not shown)
Question: Is there any quicker and easier way for stability analysis?
Routh-Hurwitz Stability Criterion
Δ ( s ) = 2 s 4 + s 3 + 3s 2 + 5s + 10 = 0
4 3 − 10 10 − 0
s 2 3 10 0 b1 = = −7 b2 = = 10
3 1 1
s 1 5 0 0 − 35 − 10
2 b1 b2 0 c1 = = 6 . 43
s −7
1 c1 0
s 10 ( 6 . 43 ) − 0
0 d1 = = 10
s d1 6 . 43
The characteristic equation has two roots with positive real parts
since the elements of the first column have two sign changes:
(2, 1, -7, 6.43, 10)
Example 2: F-16 fly-by-wire (FBW) system (1/4)
http://en.wikipedia.org/wiki/F16
Flight Augmentation
Computer
A/P
Feel and
Limitation
Computer
AP A/C
Response
Auto-pilot
Computer
A/P Order
Fly-By-Wire
Computers
A/C
Response
Fly-By-Wire: main components
• Digital computers
Questions: Is the closed-loop system stable? How to analyze the stability of the system?
Example 2: F-16 fly-by-wire (FBW) system (3/4)
4 21.4355×1.3398 – 1×0.0436
= 1.3378
s 21.4355 13.45 0.0436 0 b2 = 21.4355
3 21.4355×0 – 1×0
b1 b2 b3 b3 = = 0
s 21.4355
2 c1 c2 28.2214×13.45 – 21.4355×1.3378
s c1 = 28.2214
= 12.4339
1 d1
s c2=
28.2214×0.0436 – 21.4355×0
28.2214
= 0.0436
0 e1
s d1 =
12.4339×1.3378 – 28.2214×0.0436
12.4339
= 1.2388
Questions?