Department of Electrical Engineering and Computing
Course: Modern control system
Chapter –3
System Stability
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Stability is the most crucial issue in designing any control system.
Definition of stability
The quality, state, or degree of being stable: such as. : the
strength to stand
The property of a body that causes it when disturbed from a
condition of equilibrium or steady motion to develop forces or
moments that restore the original condition.
Stability is a measure of the body's ability to maintain its original
position.
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(Definition) Equilibrium state
Given a system with zero input, if a state 𝑥𝑒 satisfies the
following condition for 𝑡 ≥ 𝑡0 , it is called equilibrium at 𝑡 = 𝑡0
• External input is regarded as 0
• A zero vector, i.e. 𝑥𝑒 = 0,
is the equilibrium of all systems
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The three types of stability Stable equilibrium, Unstable equilibrium
and Neutral equilibrium.
Examples of equilibrium state
Stable – spring + mass, RLC circuit
Neutral – DC motor, hydraulic cylinder
Unstable - scooter, missile, bicycle
Stable Neutral
Unstable
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For example,
Substituting u= 0, and x= 𝑥𝑒 in the equation yields
1
2
Solving equations 1 , 2 yields
𝑥𝑒1 = 𝑥𝑒2 = 0 or
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Example : Find equilibrium states
Solution: Substituting u= 0 and 𝑥 = 𝑥𝑒 in the above equation yields
1
2
From 1 and 2
𝑥𝑒1 = α, 𝑥𝑒2 = 0 or
This system has infinite
equilibrium points
including xe= 0.
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Example : Find equilibrium states.
Solution: Substituting u= 0 and 𝑥 = 𝑥𝑒 in the above equation yields
1
2
Solving 1 , 2 yields
𝑥𝑒1 = 𝑥𝑒2 = 0 or
This system has one equilibrium at 𝑥𝑒 = 0.
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A vector whose distance from the equilibrium point is less than
or equal to 𝜀.
𝒙 − 𝒙𝒆 𝟐 ≤𝜺
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(Definition) Internal stability
The equilibrium is said to be internally stable if, for any 𝑥0 in the
region of ||𝑥0 − 𝑥𝑒 || ≤ δ < ∞ , the trajectory of x starting from 𝑥0
stays in the region of ||𝑥0 − 𝑥𝑒 || ≤ δ < ∞,for t ≥0.
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Test of internal stability
The E.S. 𝑥𝑒 is said to be internally stable if the following conditions
are met:
1. Re(𝝀𝒊 ) ≤ 𝟎 for i= 1,2,…,n and
2. For multiple eigenvalues 𝜆𝑖 of 𝑟𝑖 existing on the complex axis
𝝆 𝑨 − 𝝀𝒊 𝑰 = 𝒏 − 𝒓𝒊
For example, given a zero-input system
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Eigenvalues
∴ 𝝀𝟏 = 0, 𝝀𝟐 = -2
Since Re(𝝀𝟏 )= 0 and Re(𝝀𝟐 )< 0, the zero-input system
is internally stable
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For example, given a zero-input system
Eigenvalues
∴ 𝝀𝟏,𝟐 (𝒓 = 𝟐)
Re(𝝀𝒊 ) ≤ 0, it has multiple eigenvalues
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n= 2, r= 2(multiplicity)
Obtaining 𝝆(A- 𝝀I) and n-r gives
∴𝒏−𝒓=𝟐−𝟐=𝟎
∴ Since 𝝆(A- 𝝀I)≠ n-r, it is unstable
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For example, Check the stability of a zero-input system
From 𝝆(A- 𝝀I)=𝝀2 (𝝀 + 2)
∴ it is unstable
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Exercise:
Check the stability of a zero-input system.
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(Definition) Asymptotical stability
The equilibrium is said to be asymptotically stable if, for any 𝒙𝟎 in
the region of ||𝒙𝟎 − 𝒙𝒆 || ≤ 𝜹 < ∞ , the trajectory of x starting from
𝒙𝟎 always converges to 𝒙𝒆 for t ≥0.
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Test of asymptotical stability
If all the eigenvalues of A have negative real parts, that is
Re(𝝀𝒊 ) < 𝟎 for ( i= 1,2,…,n) then the system is asymptotically
stable.
Remark: Be in the shaded area,
not on the imaginary axis.
If all eigenvalues have negative real parts, the
point is stable.
If at least one has a positive real part, the point
is unstable.
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For example
Eigenvalues of A
Since Re(𝝀𝒊 ) < 0, asymptotically stable.
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(Definition) Un-stability
The equilibrium is said to be unstable if, for any 𝒙𝟎 in
the region of ||𝒙𝟎 − 𝒙𝒆 || ≤ 𝜹 < ∞ , the trajectory of x
starting from 𝒙𝟎 grows infinitely to 𝒙𝒆 for t ≥0.
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(Definition) BIBS stability
The state x(t) is said to be BIBS (bounded-input bounded-state) stable
if, for bounded input, that is, ||u(t)|| < k, there exists 𝛿 such that satisfies
||x(t)|| ≤ 𝛿.
Test of BIBS stability
If all the poles of the TF X(s)/U(s) = (sI−A)−1 𝐵 have negative real
parts, we say BIBS stability.
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For example, given a zero-state system
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(Definition) BIBO stability
The state x(t) is said to be BIBO (bounded-input bounded-output)
stable if, for bounded input, that is, ||u(t)|| < k, there exists 𝛿 such that
satisfies ||y(t)||≤ 𝛿.
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Test of BIBO stability
𝑌 𝑠 −1
If all the poles of the TF = 𝐶 𝑠𝐼 − 𝐴 𝐵 + 𝐷 have negative
𝑈 𝑠
real parts, we say it is BIBS stabile.
For example: Consider a zero-state system. Is the system BIBS,
BIBO stable?
−1
Solution: Obtaining the TF X(s)/U(s)= 𝑠𝐼 − 𝐴 𝐵 gives
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Since s= -2 < 0 from the TF, the system is BIBS stable.
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Obtaining TF Y(s)/U(s)= 𝐶 𝑠𝐼 − 𝐴𝐵 −1 + 𝐷 gives
Since s= -2 < 0, BIBO stable.
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(Definition) Lyapunov stability
Lyapunov stability is often used to describe the state of
being stable in a dynamical system. An equilibrium state
𝑥𝑒 of a dynamical system is Lyapunov stable if all
trajectories of the system starting from a neighborhood of
𝑥𝑒 stay in the neighborhood forever.
(Theorem) Lyapunov stability
A system
is said to be Lyapunov stable if a scalar Lyapunov function
V(x) satisfying the following conditions exists.
1. 𝑽 𝒙 ≥ 𝟎 𝒇𝒐𝒓 ∀𝒙, 𝐚𝐧𝐝 𝑽 𝒙 = 𝟎 𝒇𝒐𝒓 𝒙 = 𝟎.
2. 𝑽ሶ 𝒙 < 𝟎 𝒇𝒐𝒓∀𝒙 ≠ 𝟎 𝒂𝒏𝒅 𝑽ሶ 𝒙 = 𝟎 𝒇𝒐𝒓 𝒙 = 𝟎.
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Consider the nonlinear system
Obtain the equilibrium point of the system.
Check the stability.
Let V be the positive definite function
The derivative of V is
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Satisfy condition 2, Lyapunov stable
Note that the origin is the only equilibrium point of the system.
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(Definition) Definiteness
For 𝑥 𝑇 𝐴𝑥 defined by ∀x ≠ 0 and a real symmetric matrix A,
1. If 𝑥 𝑇 𝐴𝑥 >0, A is a positive definite(PD) matrix or shortly PD
2. If 𝑥 𝑇 𝐴𝑥 ≥0, A is positive semi-definite(PSD)
3. If 𝑥 𝑇 𝐴𝑥 <0, A is negative definite(ND)
4. If 𝑥 𝑇 𝐴𝑥 ≤ 0, A is negative semi-definite (NSD)
5. If 𝑥 𝑇 𝐴𝑥 is negative or positive, A is indefinite.
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Test for matrix definiteness
Determinants ∆𝑖 = 𝐴𝑖 𝑖 = 1,2, . . , 𝑛
For n=2
1. If ∆1 >0, ∆2 >0,..., ∆𝑛 >0 → A is PD
2. If ∆1 ≥ 0, ∆2 ≥0,..., ∆𝑛 ≥0 → A is PSD
3. If ∆1 <0, ∆2 >0, ∆3 <0, ∆4 >0,…→ A is ND
4. If ∆1 ≤0, ∆2 ≥0, ∆3 ≤0, ∆4 ≥0,…→ A is NSD
5. Otherwise → A is ID
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Test for matrix definiteness
Eigenvalues of A, λ𝑖 (1 ≤ 𝑖 ≤ 𝑛)
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