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Stability The stability of a general dynamical system with no input can be described with Lyapunov stability criteria. A linear system is called bounded-input bounded-output (BIBO) stable if its output will stay bounded for any bounded input. Stability for nonlinear systems that take an input is input-to-state stability (ISS), which combines Lyapunov stability and a notion similar to BIBO stability. For simplicity, the following descriptions focus on continuous-time and discrete-time linear systems. Mathematically, this means that for a causal linear system to be stable all of the poles of its transfer function must have negative-real values, i.e. the real part of each pole must be less than zero. Practically speaking, stability requires that the transfer function complex poles reside in the open left half of the complex plane for continuous time, when the...