Documente Academic
Documente Profesional
Documente Cultură
Lecture # 5
Stability of Equilibrium Points
Lyapunovs Method
Let V (x) be a continuously differentiable function defined in a
domain D Rn ; 0 D. The derivative of V along the
trajectories of x = f (x) is
V (x) =
n
X
V
i=1
xi
V
,
x1
x i =
n
X
V
i=1
V
,
x2
V
f (x)
x
... ,
xi
fi (x)
V
xn
f1 (x)
f2 (x)
..
.
fn (x)
x D with x 6= 0
xD
x D with x 6= 0
Proof
D
0 < r , Br = {kxk r}
0<<
= {x Br | V (x) }
kxk V (x) <
= max V (x)
dkxkr
Z t
V (x(t)) = V (x(0)) +
V (x( )) d V (x(0)) t
0
Terminology
V (0) = 0, V (x) 0 for x 6= 0 Positive semidefinite
V (0) = 0, V (x) > 0 for x 6= 0
Positive definite
V (0) = 0, V (x) 0 for x 6= 0 Negative semidefinite
V (0) = 0, V (x) < 0 for x 6= 0
Negative definite
kxk V (x)
Radially unbounded
Lyapunov Theorem
The origin is stable if there is a continuously differentiable
positive definite function V (x) so that V (x) is negative
semidefinite, and it is asymptotically stable if V (x) is negative
definite. It is globally asymptotically stable if the conditions
for asymptotic stability hold globally and V (x) is radially
unbounded
Nonlinear Control Lecture # 5 Stability of Equilibrium Points
c 1 <c 2 <c 3
x2 c
x21
+x2
1 + x21 2
c
c
c
c
c
hhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhh
c
x1
c
c
c
c
c
c
x 2 = a sin x1
x 2 = a sin x1 bx2
1
V (x) = a(1 cos x1 ) + x22
2
V (x) = ax 1 sin x1 + x2 x 2 = bx22
The origin is stable
V (x) is not negative definite because V (x) = 0 for x2 = 0
irrespective of the value of x1
Try
V (x) =
1 T
x Px
2
x
T
g (y) dy =
n
X
gi (y) dyi
i=1
Example 3.7
x 1 = x2 ,
x 2 = h(x1 ) ax2
b > 0, c > 0
g2
g1
=
x2
x1
V (x) = g1 (x)x2 g2 (x)[h(x1 ) + ax2 ] < 0, for x 6= 0
V (x) =
Try
g(x) =
1 (x1 ) + 1 (x2 )
2 (x1 ) + 2 (x2 )
and 2 (x1 ) = x1
V (x) =
ax1 + h(x1 ) + x2
x1 + x2
x1
x2
V (x) =
1 T
x Px
2
x1
h(y) dy,
0
P =