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Poles, Zeros and Stability
Defining stability Poles and zeros Poles and stability Poles and system performance Origin of zeros
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Defining Stability
A system can be defined as stable if every bounded input produces a bounded input not sufficient if only some bounded inputs produce bounded outputs Alternatively, a system is stable if the output response dies away when subjected to an impulse input. If the output response tends to infinity, the system is unstable. If the output response tends to some finite (non-zero) value, the system is critically or marginally stable
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Defining Stability
Most modern aircraft are open-loop unstable (by design) cannot fly without feedback to stabilise the system Degree of stability is related to manoeuvrability in aircraft (fighter aircraft much closer to boundary than commercial aircraft)
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Defining Stability
The performance of a system is completely defined by its transfer function steady-state errors, transient response, disturbance rejection The numerator and denominator of the transfer function give the poles and zeros Poles provide information regarding the stability of the system. Zeros arise due to combinations of internal physical pathways in the system and can affect system performance levels
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Stability Examples
Step input produces output described by o ( t ) = 0.5t UNSTABLE
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Stability Examples
Impulse input produces o ( t ) = e t output described by STABLE
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( (
The n poles of the system are defined as the roots of the denominator polynomial and the m zeros as the roots of the numerator polynomial: K ( s + z1 )( s + z2 ) ( s + zm ) G (s) = ( s + p1 )( s + p2 ) ( s + pn ) K is the system gain
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s-Plane Reminder
s is a complex variable which is given by s = + j . The real part of s, , is related to the boundedness of signals or stability of system. The imaginary part, , is related to the frequency content of signals.
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s+3 System 2: G ( s ) = s 4 ) ( s 2 + 12 s + 52 ) (
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e jt e jt 1 2t jt 2t jt o (t ) = ( e e e e ) = e 2t j2 j2
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2t = e sin t
Autumn Semester 2008
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= 2, 5, 10 and 20 s
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1 G1 ( s ) = , 2s + 1 1 G2 ( s ) = , 5s + 1 1 G3 ( s ) = , 10 s + 1 1 G4 ( s ) = , 20 s + 1
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Origin of Zeros
Zeros are a common feature of system transfer functions They arise due to the internal physical subsystems combining with one another. E.g. consider this system:
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Origin of Zeros
Combining these two first-order blocks with different time constants results in a second-order transfer function with a zero at s = 1
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Next Lecture
Root Locus Analysis
First-order system root loci Second-order system root loci Root loci of closed-loop systems Construction of root loci
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