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PAGE  PAGE 67 PART 2 Unit 2 A stability and the time response The stability of a continuous or discrete-time system is determined by its response to input or disturbance. Intuitively, a stable system is one that remains at rest (or in equilibrium) unless excited by an external source and returns to rest if all excitations are removed. The output will pass through a transient phase and settle down to a steady-state response that will be of the same form as, or bounded by, the input. If we apply the same input to an unstable system, the output will never settle down to a steady-state phase; it will increase in an unbounded manner, usually exponentially or with oscillation of increasing amplitude. 连续或离散系统的稳定性由其对输入或者干扰的响应决定。直观地说，如果一个系统是稳定的，则其停留在稳态（或者平衡点），除非是受到外部激励，且当外部激励去除后，输出又回到稳态点。输出经过瞬态阶段后将回到与输入有相同形式的稳态或者是在输入的附近。如果我们将同样的输入作用于不稳定的系统，其输出将不会回到稳态，而是以无界的方式增长，通常其幅值是指数增长或者振荡增长。 Stability can be precisely defined in terms of the impulse response of a continuous system, Kronrcker delta response of a discrete-time system, as follows: A continuous (discrete-time) system is stable if its impulse response (Kronecker response ) approaches zero as time approaches infinity. 系统的稳定性可以用连续系统的脉冲响应或者离散系统的Kronrcker Δ 响应来定义：一个连续（离散）系统是稳定的，如果其脉冲响应（Kronrcker Δ 响应）当时间趋于无穷大时趋于零。 An acceptable system must at minimum satisfy the three basic criteria of stability, accuracy, and a satisfactory transient response. These three criteria are implied in the statement that an acceptable system must have a satisfactory time response to specified inputs and disturbances. So although we work in the Laplace and frequency domains for convenience, we must be able to relate these two domains, at least qualitatively, to the time domain. 一个可接受的系统必须至少满足：稳定性、精度和满意的瞬态响应这三个指标。在陈述：“一个可接受的系统对指定输入和扰动必须有满意的时域响应”已经包含了这三个指标的含义。因此尽管我们为了方便工作在拉氏域或者频率域，我们必须与时间域（至少是定性的）相联系。 With the transfer function in the form of Eq.(2-2A-1), the order of the system in defined as the order of the characteristic function D(s), th