Stability,controllabilityandobservability.pptVIP

8. Stability, controllability and observability Stability Controllability Observability 8.1 Stability For continuous-time system, the state space model is The corresponding transfer function is where det(sI-A) is a polynomial which forms the denominator of the system transfer function. That means the roots of det(sI-A)=0 (eigenvalues of A) are the poles of G(s). 8.1 Stability For discrete-time system, the state space model is The corresponding transfer function is where det(zI-?) is a polynomial which forms the denominator of the system transfer function. That means the roots of det(zI-?)=0 (eigenvalues of ? ) are the poles of G(z). 8.1 Stability Therefore, we can tell the stability of a system by calculating the eigenvalues of A or ?. We can easily tell the stability of a system by inspecting its plant matrix A in continuous-time system or ? in discrete-time system if A or ? are in Diagonal or Jordan canonical form. 8.1 Stability Liapunov stability analysis plays an important role in the stability analysis of control systems described by state space equations. From the classical theory of mechanics, we know that a vibratory system is stable if its total energy is continually decreasing until an equilibrium state is reached. Liapunov stability is based on a generalization of this fact. 8.1 Stability Liapunov stability: If a system has an asymptotically stable equilibrium state, then the stored energy of the system displaced within a domain of attraction decays with increasing time until it finally assumes its minimum value at the equilibrium state (Details for Liapunov stability and theorems are given in section 5.6 on 336 in our textbook). 8.1 Stability Liapunov theorem on stability: Suppose a system is described by x’=f(x,t) where f(0,t)=0 for all t. If there exists a scalar function V(x,t) having continuous first partial derivatives and satisfying the conditions V(x,t) is positive define (V(x,t)0) . V’(x,t) is negative semi-definite (V’(x,t)0). T