Brief introduction

Russian mathematician AM Lyapunov and mechanics founded in 1892

years for the analysis of system stability theory. For the control system,
stability is a fundamental problem to be studied. In studies linear timeinvariant systems, there are many criteria such as algebraic stability
criterion, Nyquist stability criterion, etc. can be used to determine the
stability of the system. Lyapunov stability theory can be applied to both
linear system analysis and nonlinear systems, time-invariant systems and
time-varying system stability, is more general stability analysis. Lyapunov
stability theory mainly refers to the Lyapunov second method, also known
as the Lyapunov direct method. Lyapunov second method can be used at
any stage of the system, the use of this approach can solve the system
does not have to directly determine the stability of the equation of state.
For nonlinear systems and time-varying systems, state equations is often
very difficult, therefore Lyapunov second method shows great advantages.
Corresponds with the second method is the first method of Lyapunov, also
known as the Lyapunov indirect method, it is through the study of
nonlinear systems of linear equations of state to determine the distribution
of eigenvalues of system stability. The first method and the second
method of far. In modern control theory, Lyapunov second method is to
study the stability of the main method of control systems theory as a
fundamental tool for the problem, but also a detailed analysis of the
stability of the control system a common method. Limitations of Lyapunov
second method is to use requires considerable experience and skill, and
the conclusions given system is stable or unstable only a sufficient
condition; ineffective in other ways, this approach also can solve some
nonlinear system stability issues. Now, with the development of computer
technology, using a digital computer can not only find the required
Lyapunov function, but also to determine the system's stability region.
However, for any system you want to find a set of commonly used
methods are still difficult.

Development Overview
From the late 19th century, Lyapunov stability theory has guided the
research and application about stability. Many scholars follow Lyapunov
line of research opened up by the second method made some new
developments. On the one hand, Lyapunov second method is extended to
study the stability of the general system. For example, in 1957, . .
Zubov will Lyapunov method is used to study the same set of metric space
stability. Subsequently, JP LaSalle and other abstract systems and various
forms of Lyapunov stability were studied. In these studies, the description
of the system are not limited to differential or difference equations, sports
equilibrium state has adopted the same collection that Lyapunov function
is defined in a more general sense. 1967, D. Buxiao right level of
representation in the collection and mapping systems on the

establishment of the Lyapunov second method. At this time, Lyapunov

function is no longer real number field value, but in an orderly grid defined
on the half-value. On the other hand, the second method is used to study
the Lyapunov large multi-level system, the stability of the system. At this
point, Lyapunov function is generalized to vector form, called a vector
Lyapunov function. This method can be used to establish sufficient
conditions for the stability of large-scale systems.
System is disturbed movement and balance
Essence of the problem is to examine the stability of the system
disturbance caused by the initial state of the disturbed motion can
approach or return to the original state of equilibrium. X0 is the initial state
with the disturbance, the motion is disturbed state equation Zheng = f (x,
t) at the initial time t0 by the state disturbances x (t0) = x0 solution after.
Where x is an n-dimensional state vector, f (x, t) is the x and time t as the
independent variable an n-dimensional nonlinear vector function. When
certain conditions are met, the state equation has a unique solution. The
system is disturbed movement which changes with time t, and its change
and the role of the initial disturbance and x0 at time t0 have a direct
relationship, mathematically expressed as dependent on the amount of a
vector function, denoted by (t; x0 , t0). In order to state x axis
component of the state space form, as time t increases, the disturbed
motion (t; x0, t0) expressed as a departure point from x0 trajectory.
Equilibrium is when the system is in a relatively static state of motion, with
the xe said its feature is the time derivative identically zero, by solving the
functional equation f (xe, t) = 0 one to draw. For ease of presentation and
analysis of the equilibrium point xe often defined as the origin of the state
space, which can be appropriate coordinate transformation to achieve.
Therefore Lyapunov second method can be attributed to the movement of
the disturbed trajectory relative to the origin of the stability of the state
space.
The sense of Lyapunov stability
Refers to the equilibrium state of the system is stable or unstable the
required standard. Mainly related to stability, asymptotic stability, global
asymptotic stability and instability.
stable
With S () in the state space represents the origin center of the sphere
with a ball of radius domain, S () shows another ball of radius
domains. If any selected for each domain S (), there must be a
corresponding domain S (), where <, so that the entire time interval
considered, from the domain S () of any point x0 From the disturbed

motion (t; x0, t0) of the rail line is not beyond the domain S (), then we
say that the origin equilibrium xe = 0 is the sense of Lyapunov stability.
asymptotically stable
If the origin of the equilibrium state is stable in the sense of Lyapunov, and
at time t tends to infinity, the disturbed motion (t; x0, t0) converges to
the equilibrium condition xe = 0, and this process, without departing from
the S ( ), then the system is asymptotically stable equilibrium state. From
a practical standpoint, asymptotically stable important than stability. In the
application, determine the maximum range asymptotic stability is
necessary, it can determine the disturbed motion is asymptotically stable
under the premise of the initial perturbation x0 maximum allowable range.
wide range of asymptotically stable
Also known globally asymptotically stable, when a state space for all nonzero when x0 is taken as the initial disturbance, the disturbed motion (t;
x0, t0) are asymptotically stable case. In control engineering always want
asymptotically stable system has a wide range of features. System is a
necessary condition for global asymptotic stability in the state space is
that it is only one equilibrium.
unstable
If there is a selected ball domain S (), regardless of the domain S () to
obtain how small the radius, in S () always exists at least one point within
x0, so that this state of departure from the moving rail disturbed line from
the field S (), then the system is zero equilibrium state xe = 0 is unstable.