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Why Stable Systems Have Poles Inside the Unit Circle but AR Model Roots Are Outside? Why Stable Systems Have Poles Inside the Unit Circle but AR Model Roots Are Outside? If you've studied Digital Signal Processing (DSP) or Time Series Analysis , you've probably encountered two statements that seem contradictory: A stable discrete-time system must have its poles inside the unit circle. A stable AR (Auto-Regressive) model requires its roots to lie outside the unit circle. At first glance, these statements appear to conflict. Fortunately, they are both correct. The apparent contradiction comes from the fact that DSP and statistics define the characteristic polynomial differently. This article explains why both statements are true and clears up one of the most common sources of confusion in signal processing. Stability of Continuous-Time Systems For a continuous-time system, the transfer function is H(s) = N(s) / D(s) A s...