In the design of recursive digital filters, the stability of the recursive digital filters must be guaranteed. Furthermore, it is desirable to add a certain amount of margin to the stability so as to avoid the violation of stability due to some uncertain perturbations of the filter coefficients. This paper extends the well-known stability-triangle of the second-order digital filter into more general cases, which results in dented stability-triangles and generalized stability-triangle. The generalized stability-triangle can be viewed as a special case of the dented stability-triangles if the two upper bounds on the radii of the two poles are the same, which is a generalized version of the existing conventional stability-triangle and can guarantee the radii of the two poles of the second-order recursive digital filter below some prescribed upper bound. That is, it is able to provide a prescribed stability-margin in terms of the upper bound of the pole radii. As a result, the generalized stability-triangle increases the flexibility for guaranteeing a prescribed stability-margin. Since the generalized stability-triangle is parameterized by using the upper bound of pole radii, i.e., the stability-margin is parameterized as a function of the upper bound, the proposed generalized stability-triangle facilitates the stability-margin guarantee in the design of the second-order as well as high-order recursive digital filters.
