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in a com-pact and shock-proof form. It requires no heatup time and the oscillationi can be started instantaneously under given initial conditions.
In principle any electronic device based upon Hall
effect can be replaced by a similar device based upon
magnetoresistance effect. Theoretically, magnetoresistance effect devices should have much higher efficiency
aind sensitivity than those of the Hall effect devices,
when the operating magnetic field is well over 3000
gauss. In another method of making use of the magnetoresistance effect, oscillators as well as other kinds
of devices can be constructed with two magnetoresist-
ACKNOWLEDGMENT
The author acknowledges with thankis the support of
this work by Prof. J. Dosse, director of the Institute of
High-Frequency Engineering, Technische Hochschule
Stuttgart, Stuttgart, Germany, He also wishes to thank
the German Research Foundation (Deutsche Forschungsgemeinschaft) for its financial support.
I.
I. INTRODUCTION
T IS KNOWN THAT linear time-invariant discrete
systems can be described by constant coefficient
linear difference equations. These equations can be
easily transformed into the function of the complex variable z by the z-transform method. One of the problems
in the analysis of such systems is the test for stability,
i.e., to determine the necessary and sufficient conditions
for the roots of the system characteristic equation to lie
*
Received AuguLst 31, 1961; revised manuscript received, February 23, 1962. This research was supported by the USAF Office of
Scientific Research of the Air Research and Development Command
under Contract No. AF 18(600)-1521.
t Department of Electrical Engineering, University of California,
Berkeley, Calif.
1493
for
Linear
IRE
1494
The study in this paper represents a major simplification of the earlier work [8], [9] where it is shown that
only half the number of determinants are required for
obtaining the stability constraints. This simplification
has a decisive advantage over the m-odified RouthHurwitz criterion and, indeed, higher-order systems
can easily be tackled using the proposed stability test.
the conjugate sign in (2) is superfluous. It is the utilization of this fact that leads to the simplification
of (2).
As noticed from (2), the highest-order determinant
is of order 2n, while the characteristic equation is
of order n. Hitherto this contituted one of the discouraging facts in widely using the criterion for higherorder sampled-data systems. A recourse to transformation to other planes was therefore attempted to yield
easier stability tests.
|A,,,l
ao +
alz
+ a2z2 +
* * *
a,z"
June
(1)
Ak
o
o
a,
ao
ak-1
ak-2
ak3
an-k+2
a,,_k+3
0
O
0*.
...
...
1, 2, 3, * * n, dk = complex conjugate of ak
are different from zero, then F(z) has no zeros on the
circle z = 1 and ,u zeros in this circle, ,u being the number of variations in sign in the sequence 1, Al
A,,.XThe proof of the above theorem is
A2 * *
quite involved and is available in the literature [1],
[2]. This criterion was first introduced by Cohn in 1922,
and since that time neither engineers nlor mnathemuaticians have simplified it to a usable form.
For a system of order n to be stable, all the n zeros of
its characteristic nth order equation must lie within the
unit circle, i.e., the sequences 1,
* * , |tst|
must have n variations in sign. The stability criterion
can, therefore, be expressed by the constraints [4]:
|All, IA21,
AkI
< 0, kodd
Ak > 0, k evenf
1)
2)
...
47n 1.
a,,
0
dl
do
..
an
a,
...
(4)
an-k+ 1 ]
an-k+l
(2)
-k-I
pTJ
an-k+l
Ak
ao
_~
an-l
QP
[Pk
do
-ao
a0
al
Pl..P= a,
a
ao
Lak-
Qk=
=
ak-2 ak-3
[a,,
a,-
a,,
01
..
(5)
ao-
a,,-k
a,-k+2
(6)
kj
Ill.
(3)
For a discrete or a sampled-data system, all the coefficients of the characteristic equation are real. Hence,
Lo0 O
* *
a,
Xk + Yk
Xk - Yk
(7)
1962
where Xk and Yk. are given as follows:
[ao
Xk =I
a, a2 * * * ak-Il
aO a, *.* ak-2
o
_O
(8)
0 ** a1 J
0.** .ao _
0
O
AkI
Yk
[a,,-k,2
n7+
Ak
a1
an-l* *0
* *0
La,
01
0
Thus the Schur-Cohn determinant Ak I is reduced to
the product of two k-order determinants [1], [2] which
.
is considerably easier to evaluate than the 2k-order de. If ak is complex, then this simplificaterminant
tion is no longer possible [1], [2].
IAk|
of diNow
* , a,,. The polynomial
mension k in the variables ao,
Xk- Yk is identical to the polynomial Xk+ YkIj except for a change of sign of those monomial terms which
have an odd number of elements from Yk,, i.e.,
(10)3
I Xk + YkI = Ak+ Bk-
I Ak|,
0 1(9
(9)
a,-,n
A,.2
B,A2 (12)3
and
an-k+1 *.** an-,
1495
<
I Bke|,
k = 1, 2, *, n.
k oddJ
(13)
I,
Xk - Yk I = Ak - Bk
(11) are equivalent to A, t B, depending on n. For any
a, the auxiliary constraint can be written as
where A,(Bk) is the sumn of all monomial terms which
do not chanige (do chanige) sign wheii YkI is replaced by
> O, n even
F(1) * F(- 1)
-Y,,in I Xk+Yk|.
< O, n odd
V. IDENTIFICATION OF Ak AND Bk
(which we designate as the stability constants) [8].
1) Let all the as's in the matrix Yk, in (9) be denoted
in
by b,'s; then expand the determinant Xk+
terms of ai and bi.
2) After expanisioni, examine every term which is a
product of ai's and bi's; if it containis an even number (including zero) of bi's, then it is assigned to
Ak,; otherwise assigni the term to Bk.
YkI
From (8) and (9), by replacing all the a's of Y,C by b's, we obtaiin
A k anid Bk by first expanding the following determinant:
IXk+ YkI.
ao+b.-k+ ai+b,,-k+2 a2+b.,k+3
b1,-+2
ao+bn-k+3 ai+bii,k+4
bn-kA+3
b??-b+4
bn_2
bn_l
b,b,
ao+bn-k-[
,
0N7 0
0O
0
0 0=
102,--0
*ak-2+b.-i ak-l+b.
a,ak3 + bn ak-2
*ak-4
* *
ak-3
a,
a2
ao
a,
aO
n -
simplification.
(13a)
-
In the Section VII the exact mathematical relatioiiship betweeni A,, - Bn2 and the auxiliary constraint will
be introduced.
1,
A12
BkBk+l
2, 3, 4, *
*,
n-.(5)4
(15a)
1496
1 >
Juane
(23)
(ao+ a2 + a4+
(24)
(al+ a3B+
).
(25)
Bt
)A.-2
(16)
This limiting case has been rigorously proven by determinant manipulations using properties 2) and 3). Eq.
(15) is the key identity for reducing the determinant of
Ak and Bk, for it is noticed that by forcing certain restrictions on the A's and B's before and after a certain
k we can dispense with A e2 < Bk,2. This will be best illustrated by the few examples to be discussed.
An-1
-la
Bn-1
a5 +
(26)
. (a,+ a3 + a5
(19)
.)l
or
An2
Bn2
auxiliary constraint.
3) (An-I + Bn-1)
I|
(20)
BJ to the
aoI
< a3,
All
<
aa3I
I Bil
(28)
Iz=-l
B31
A,-2(ao + a2 + a4 + * * )
Reduction of the Constraint Conditions: From the first
-Bn-2(al+a3+as+ * * ), n>3. (21) property of the Ak and Bk, we may write in this case
=
(22)
Eq. (22) has been verified for anyn > 3 by using certain determinant manipulations [IIJ. The use of the
third property lies in the fact that one can obtain
An_l+Bn_1 from An2 and Bn_2, and most important,
to verify the first property for the limiting case, i.e.,
k = n-1, as follows.
The third and second properties can be rewritten
as follows:
For values of k up to 15, and for certain n, this equivalence has
also been checked numerically. Although a rigorous proof (other than
determinant expansion) for (15) has been obtained, by using a heuristic argument however, it can easily be shown [111 that this identity
is not violated for all values of k between 5 and n -1.
6 To establish the identity for the general case, [11] it is easier to
show the following equivalent conditions for (17) and (18):
=
F(l)(A.-1
B,,-,);
A.
B.
F(-1)(An-I
-B_A.
(31)
II
ao + b2 a, + b3
121b3
|a02+aob2-a,b2-b2
A. + B.
BlB3.
A2
B2
to obtain
-b32
aob2- ab3.
a2
A2
B2
a02- a32
aoa2- a,a3.
A similar procedure is used for obtaining the Ak's and Bk's for any k
and n.
1962
(32)
2)
A3|
< B3)
, or
<0.
I aol
It is noticed that for the fourth-order9 case only one determinant of third-order for obtaining A3 and B3 is required. All other conditions are very simple.
c) n = 5, F(z)
(33)
as > 0. (49)
(34) The stability constraints in symbolic form
(50)
A1) < B1, B1= a > 0
(35)
(51)
>
B3 < 0,
3) 1
1497
|A2|
|B2|
lA3l
< |B3|
(52)
|B4l
(53)
|A4| >
F(t) >
F(-1) <0,
0,
or
A5| <
B6I.
(54)
(36)
A32 < B32' A2A4 < B2B4.
(52a)
ao2 -a32 < aoa2 - aia3
(37)
ao + a, + a2 + a3 > 0, ao - a, + a2- a3 < 0. (38) With A2 negative because of (53),10 the stability constraint for (50), (52), (52a) and (53) becomes (50),
b) n = 4, F(z) = aO + a1Z + a2Z2 + a3z3 + 4Z4,
(51), A4>0, and A42>B42. Using A4>0 in (56), i.e.,
a4 > 0. (39) (A4-B4)(A4+B4)>0, we obtain A4-B4>0 and
< a3
Al
<
Bil
(40)
A21
B21
>
(41)
ing:
(42)
A2- B2 < 0,
A2+ B2 < 0
(55)
A4- B4 > 0,
A4 + B4 > 0
(56)
0,
F(-1) < 0.
(57)
F(1) >
or
|A3)
<
|B3I
0,
(43)
F(z),=.1
>
or
>
A4j
B4
(44)
A1
B1
A3> B3.
(45)
<a4, or
A3-B3 > 0,
F(1) >
0,
Al| <B1
(46)
A3+ B3 < 0
(47)8
F(-1) >
(48)
0.
A2 <0
A2<- |B2|
A3 - B3 > 0
F(1) > 0, F(-1) > 0.
In this case only one third-order equation in 3) and two secondorder equations in 2) are to be solved, while in the former case two
third-order equations are to be solved. It should be noted that when
2) is satisfied, relationship 1), i.e., A2 <0, becomes redundant. Therefore, the final constraints for n=4 can be summarized as [121:
1) A2 <
2) A3
-I B21
B3 >
0, F(-1) > 0.
0
3) F(1) >
10
Note A2=A12-B12.
PROCEELDINGS OF
1498}
[HE JRE
1 A2
(58)
B =a6 > 0
< BI,
> B1 21
(60)
(61)
(62)
All
< Bi,
| A3
<
|B31
and B
n even'
Ak+B, and
A. -Bk
any other n
n - 4k
any other nI,
odd1I
> 0,
<0
A44+ 4 > ()
B4 <0
.16+
A"'I4-B4 > O,
A16-36<0,
A,,_ - 1, "1
n = 4k
F(-t) < 0
A,2-B2 < 0, A2+- B
F(1)
<0. (64)
< B,
A-+ 7K< ()
n.
I All
A+B.-,>()
> 0 for
A,,, - B,_1 < 0 for
< 0 for
An,,1 + Bz,,l > 0 for
k= 1, 2, 3
(59)
A:, - Ba > 0,
A,,-B5,< 0
> 0,
,' 7
All
Jitne
A,1-1 + B- 1
k
> 0 for n -1 = 4k
< 0 for any other(n
> 0 for ,i-1 -4k
1)
it even
F(-1) > (0
BI
a,, > (
<
B,_1,
Br,-
ni
F(1) > 0,
A,2
0, for
4k
> B0 for any other n1
k- 1,2,3
<
it
odd
F(-1) < 0
4k
1962
|An_l |
> | B_
|,
A-
1499
...
1) aol
< a3
2) ao2 - a32 < aoa2- a1a3
a) F(z) z=lbn,
F (z)
z==- I
"-'Z
(-
J)nbo
b) n odd
n-=
n even
An- -Bn-1
>
a02a4- a02a2- a12a4 + a43 + aoala3 > 0 This can be easily obtained by using properties 1) and 2).
4) F(1) > 0, F(-1) > 0
A similar form can be obtained of n odd if its stability
constraints
are written in terms of odd forms of Ak and
Evaluation of the Stability Determinants [17]: To evalone
Bk.
Thus,
can show that next to the last Hurwitz
uate the Ak's and Bk's from (13), we need to expand this
determinant only for k = n -1. All other values of k can constraint for the transformed polynomial is identical to
be obtained from this expansion by a limiting process as the last constraint of the new stability criterion. This
simplification could be used to advantage in design in
follows:
order
solve two higher-order equations. It is apTo obtain Xn.3+
from X
X-,. + Y.-, we let plied tonotn to
=4
as shown above. Furthermore, if the sys(in the latter) ao = 0, a1 = 0 and ai->ai2, and then divide
tem
is
initially
stable and some of its parameters change
by -1/b2. Similarly, we can obtain all the other
so
as
to
approach
instability, the constraint A,- -Bn_
Xk+ Yk by a similar limiting process.
is
the
most
critical
one. Hence, to obtain the maximum
For the case when the coefficients of F(z) are given in
parameter
variations
for stability limit only the equanumbers, one can use (13a) only for k = n-1, and only
tion
of
need
be solved.
(An-l-Bn-1)
by letting the bi's as +aj's obtain for A,-1 +Bn_1, and as
Number
Roots
a
Real
of
of
Polynomial Inside the Unit
-ai's obtain for An1-Bn_-. This is evident if the deterCircle:
The
criterion
preceding
yields the necessary and
minant is written in detail; one can notice that it insufficient
condition
for
all
the
roots
of F(z) to lie inside
cludes inside all other determinants for other values
the
unit
circle.
To
obtain
information
on the number of
of k.
roots
that
lie
inside
the
unit
circle
if
the
system is unRelationship Between the New Criterion and Hurwitz
stable,
we
can
the
usefully
above
modify
discussions
to
Determinants: In this paper some relationships between
cover
this
case.
the
work
of
Following
original
Schurthe new stability constraints and the Hurwitz constraints are established. To show this relationship, we Cohn [1], [2] and its modified form [9], and using the
use the bilinear transformation z = (w+ 1)/(w-1) in first property of the stability constants Ak's and Bk's,
can state the following.
F(z), (1), with an>O, to obtain the following Hurwitz oneThe
number of roots of F(z) that lie inside the unit
polynomial:
circle is equal to the number of variations of sign of the
Fi(w) = bo + biw + b2w2 + * * + b4wn7
following constraints:
-
Y.-31
I,
1500
it even
A 11
I|A2i Z
1 >0
><IB
A 121 > B B:
B2|
.,1
A3|
An- B,t2
>0
|
<0
IA
Q BjB5
Bn| I ,_
_ |
A4,,
BJ1
>0
zF(1)F(-1)<0
The author gratefull'y acknowledges the helpful discussions and aid of M. A. Pai in the preparation of this
1 > 0
A31
1A51
|B2|I
t-A2A4 B2B4
B3I
A41
B5
>0
An2- Br2 |0
<
A,n-1|
A,t
maniuscript.
REFERENCES
B4|
|A4A6 Z
A 6|
ni odd
A2|
J1lnlie
B4B6
B61
Bo-_l
tB,
F(1)F(-1
<0