Final Value Theorem

Let / be a signal with Laplace/Z-transform that is real, rational, and proper. Then:

(a.) If all poles of / lie in /,

(b.) If all poles of / lie in / except for exactly one pole at /:

Proof.

Let be real, rational, and proper. Then

where

So, given that is real, rational, and proper, we can write

(a.) All poles of lie in :

(b.) All poles of lie in except exactly one at . Therefore, we can write

Then, we have

which in turn gives

Then, we have

They key reason this works is that all the poles are inside the open unit disk, except for the one at .

ELEC 3200

The Final Value Theorem in control states that if all poles of are strictly stable or lie in the open left half-plane, i.e., have , then

The more general mathematical form of the theorem states that if exists (it has a finite limit), then

where is the one-sided Laplace transform of .