What does an eigenvalue look like in a real waveform? Exactly the three cases of Figure 2: a well-damped mode dies away quickly, a poorly-damped mode rings for a long time, and an unstable mode grows.
Two torques decide the shape. Synchronising torque pulls a generator rotor back toward synchronism after an angle disturbance; damping torque reduces the oscillation amplitude over time. A system can have plenty of synchronising torque yet poor damping — and then the oscillation lasts a long time even though the machine does not fall out of step. On the power-angle curve the synchronising-torque coefficient is the slope; it falls to zero at a \(90^\circ\) angle difference, so a positive slope (a positive synchronising-torque coefficient, with the angle below \(90^\circ\)) is the condition against aperiodic (monotonic) instability. Oscillatory small-signal stability needs something more — adequate damping torque (\(\sigma \lt 0\)) — and a poorly-damped or growing swing often needs an added damping source such as a power system stabiliser (PSS) or inverter power-oscillation damping (POD).
The mode shape comes from the eigenvectors, and it answers “who is involved?” It shows which machines, controllers or plant states participate strongly in a mode, and whether they move together or against each other. If two areas swing against each other it is an inter-area mode (typically 0.1–2 Hz, far below the 50 Hz system frequency of the UK and Europe); if one generator swings mainly against the rest of the system it is a local mode. A related tool, the participation factor, indicates which state variables are most involved in a mode — it tells you whether the mode is mainly a generator, exciter, governor, plant-controller or PLL state, so you know what to re-tune. IBGs can change mode shapes indirectly, by changing dispatch and power flows.
Two practical notes. “Small disturbance” is relative: a disturbance counts as small only if the system stays close enough to its operating point for linearisation to remain valid — a small load step or a small setpoint change qualifies, whereas a large fault that trips protection or hits the current limits does not. The test is how little the disturbance perturbs the system, not a fixed size. And a growing oscillation is hard to catch early, because it hides under the steady-state oscillations of natural load change; by the time it is obvious, corrective action may be too late. That is why small-signal stability is of growing interest to operators as IBG penetration rises.