Absolute Stability of Nonlinear Systems

of Automatic Control
V.M.POPOV

CENTRAL specification imposedon a controlmechanism

is invariably its stability. Maxwell's paper "On Governors" [10],

settled the problem of stability of systems described by third
order linear differential equations in terms of the coefficients
of the associated characteristic polynomial. Subsequent to this
paper, the problem of stability of systems described by linear
differential equations in terms of the coefficients of the characteristic polynomial was solved by Routh and Hurwitz. It is worth
noting that the mathematical problem of determining when the
roots of a polynomial lie in the left half of the complex plane
had actually been effectively solved by Hermite [5] a decade
before Maxwell posed the stability problem as a question in
control.
In his thesis in 1895, Lyapunov put forward a method, now
called 'the second method of Lyapunov', for determining the
stability of an equilibrium of a system described by nonlinear
differential equations. While Lyapunov was primarily interested
in applications to mechanics, his method and stability concepts
became very influential and widely applied in control. His ideas
were especially popular in the Eastern European control literature, since it was customary in these countries to use differential
equations as models for control mechanisms.
By contrast, in the Western literature, stability analysis in control had been centered on frequency-domain methods, propelled
by the beauty, practicality, and generality (for linear systems) of
the Nyquist criterion [11].
Each of these approaches has its advantages. Frequencydomain methods use very compact model specifications and
are able to address robustness through gain and phase margins. However, the generalization to nonlinear systems of frequency-domain methods proved awkward. Differential equation
models by and large proved a much better way of addressing
nonlinearities.
Through the problem of determining conditions for the stability of systems with one nonlinear element, control witnessed
a symbiosis between stability theory of Lyapunov methods and
frequency-domain techniques. A key result that was the catalyst
in this development was Popov's stability criterion, the subject
of the paper that follows.

The history of the problem is as follows (see [2] for more

details). In 1944, Lur'e and Postnikov [7] formulated the problem of stability in the large of a finite dimensional system
with one nonlinear element I : JR ~ JR satisfying a I (a) ~
for all a E JR. In subsequent publications, Lur'e obtained, using
Lyapunov methods, a set of "resolving equations" that allowed
to conclude stability. These ideas were further developed in [9],
[16], [8], but the resulting conditions remained difficult to verify
and to interpret.
This problem of stability of a system with one nonlinear element led also to the Aizerman conjecture [1]. This states that
< k2 for all a E JR, and
if there exist k l , k2 such that kl < f(a)
a
if the linear system obtained by replacing the nonlinear element by a linear one with gain k, is asymptotically stable for
all k E [k1, k2 ], then the nonlinear system is also asymptotically
stable in the large. Aizerman's conjecture is valid for second
order systems, but was proven to be false for third and higher
order systems [12] (see also [14], [15]).
By introducing the frequency response of a system, Popov
obtained a sufficient condition for the stability of such systems.
This criterion can be formulated as follows. Consider the feedback system described by (see Figure 3 in Popov's article):

-x = Ax
dt

+ bu;

y = cT x;

= - I(y)

with A E JR n x n , b, C E JR n , and I : JR ~ JR a continuous nonlinearity with 1(0) = O. Denote by G the transfer function of the
linear part, i.e., G(s) := cT(Is - A)-lb. Assume furthermore
that A is a stability matrix [meaning that t E IR ~ exp(At) E
jRnxn is bounded on [0, (0)]. The matrix A need not have all its
eigenvalues in the open left half of the complex plane. In fact,
Popov assumes that A has all its eigenvalues in the open left
half of the complex plane, except, possibly, one eigenvalue at
the origin. The assumption that A need not be Hurwitz in fact
complicates his analysis considerably.
Popov proves that the equilibrium trajectory x = 0 is globally
asymptotically stable if the following conditions are satisfied:

197

1. a I (a) > 0 for all 0 =1= a E JR,

2. thereexists q :::: 0 suchthat Re(1 + q j co )G (j())) :::: 0 for all

()) E JR.
This result is known as the Popov criterion. We have stated
the criterion here for the case that the graph of f is contained
in the first and third quadrant, but it is easily generalized to
nonlinearities in an arbitraryconic sector. The aboveconditions
on thefrequency responsecan readilybe verifiedusinggraphical
methods.
There are two main techniquesfor proving this result. One is
based on Lyapunov theory, and the other on studyingan associated integralequation.The relevantLyapunov equationconsists
of a quadraticplus an integral term,

cT x

V(x)

= x T Px +

(1f(1) de,

with P = p T E Rn x n a positive definitematrix that can be derivedfrom what is now knownas the Positive-Real Lemma [also
known as the KYP (Kalman-Yakubovich-Popov) lemma]. As
mentioned in the paper, Popov had developed the Lyapunov
proof in earlier articles. Actually, the above type of Lyapunov
function consistingof a quadraticform in the state plus an integral of the nonlinearity, was alreadyused in [7].The equivalence
between Lur'e resolving equations, Popov's criterion, and the
existence of a Lyapunov function of the quadratic form plus
integral type was proven in [17] (see also [6]).
In the present paper, Popov presents a new proof that involves an integralequation, and in his analysis,he makes use of
truncation operators. Truncation operators, and the associated
extended Ep -spaces, are elegant and effectivetools for stability
analysis for feedback systems, used also for exampleby Zames
[18] and Sandberg [13] (see also [15]).
The ideas that led to and emerged from the Popov criterion
became of central importancein the field. It was a first instance
of the use of 'multipliers' for feedbackstability. It demonstrated
the very fruitful interplay between time-domain and frequency-

domain methods. It paved the way for important stability principles, such as the small gain and the passive operator theorem.
The method of proof stimulatedthe very successfuluse of functional analysis ideas in stability analysis.
Popov's work immediatelyinfluenced many other leadingresearchersin the field; for example,Brockett[3], [4],Kalman [6],

Yakubovich [17], and Zames [18]. It was one of key elements

in the flowering of control theory in the sixties.
REFERENCES

[1] M.A. AIZERMAN, "On the effect of nonlinearfunctionsof severalvariables

on the stability of automatic control systems," Autom. i Telemekh., 8: 1,
1947.
[2] M.A. AIZERMAN AND ER. OANTMACHER, Absolute Stability ofRegulator
Systems, Holden-Day, 1964 (translation of the 1963 Russian edition).
[3] R.W.BROCKETI AND J.L. WILLEMS, "Frequency domain stability criteria,
Parts I and II," IEEE Trans. Aut. Contr., AC-I0:255-261 & 407-413, 1965.
[4] R.W.BROCKETI, "The status of stabilitytheory for deterministicsystems,"
IEEE Trans. Aut. Contr., AC-ll:596-606, 1966.
[5] C. HERMITE, "On thenumberof rootsof an algebraicequationcontainedbetween two limits,"extract of a letter from Mr. Ch Hermite to Mr.Borchardt
of Berlin, J. Reine Angew. Math., 52:39-51, 1856. (Translation by P C
Parks, Int. J. Cont., 26(2):183-196, 1977.)
[6] R.E. KALMAN, "Liapunov functions for the problem of Lur'e in automatic
control," Proc. Nat.Acad. Sci. U.S., 49:2, 1963.
[7] A.I. LUR'E AND V.N. POSTNIKOV, "On the theory of stability of control
systems," Prikl. Mat. i Mekh., 8:3, 1944.
[8] J.P. LASALLE AND S. LEFSCHETZ, Stability by Liapunov's Direct Method
with Applications, Academic Press (New York), 1961.
[9] 1.0. MALKIN, "On the theory of stability of control systems," Prikl. Mat. i
Mekh., 15:1, 1951.
[10] J.C.MAXWELL, "On governors," Proc. Royal Soc. London, 16:270-283,
1868.
[11] H. NYQillST, "Regeneration theory," Bell System Tech. J., 11:126-147,
1932.
[12] V.A. PLISS, "On the Aizerman problem for a system of three differential
equations," Dokl. Acad. Nauk. SSSR, 121:3, 1958.
[13] I.W. SANDBERG, "A frequency-domain condition for the stability of feedback systems containing a single time-varying nonlinear element," Bell
System Tech. J., 43:1601-1608, 1974.
[14] J.C. WILLEMS, "Perturbation theory for the analysis of instability in nonlinear feedback systems," Proc. 4th Allerton Conf. on Circuit and System
Theory,pp.836-848, 1966.
[15] J.C. WILLEMS, The Analysis of Feedback Systems, The MIT Press (Cambridge, MA), 1971.
[16] V.A. YAKUBOVICH, "On nonlinear differential equations for control systems with a single regulator," Vest. LGU, 2:7,1960.
[17] V.A. YAKUBOVICH, "The solution of certain matrix inequalities in automatic control theory," Dokl. Akad. Nauk SSSR, 143(6):1304-1307, 1962.
(English Translation: Soviet Mathematics, 1962, pp 620-623.)
[18] O. ZAMES, "On the input-output stability of time-varying nonlinear feedback systems.PartI: Conditionsderivedusing conceptsof loop gain, conicity, and positivity; Part II: Conditions involving circles in the frequency
plane and sector nonlinearities,"IEEE Trans. Aut. Contr., AC-ll:228-238
& 465-476, 1966.

J.C.W.

198

ABSOLUTE STABILITY OF NONLINEAR SYSTEMS

OF

AUTOMATIC CONTROL
V. M. Popov (Bucharest)
Tr&DIlated from Avromatlka i Telemekbanika. Vol. 22,
pp. 961-9'19, August, 1961
Original article submitted January 17, 1961

No~

8,

The problem of absolute stabUity of an "indirect cODuol" system with a lingle DODlineartty illnvestlsated by uslDg a metbocl which differs from the second metbocl of Lyapuoov. The maiD condltioa of
the obtafDecl criterion of absolute stability Is expressed In tenns of the trlJllfer functiob of the syltem
linear paR. It is also shown that by fonning the standard Lyapunov function --a quadratic form plus
the lDtegral of the nonlinearity" It is DOt pouible In the case coosldered here to obtain a wider Itability
domain than the one obtained from the presented criterion. Graphical criteria ofabsolute contfDuity
are also given by means of the phase'-amplitude characteristic or by what is known as" tile modified
pbue-amplltude characteristic of the system linear part.
In the praent paper the ablOlute stability is investigated of nonlinear systems of "indirect CORbOl." The existing literature in this field (see [1] for example) deals exclusively with a dlmct application of LyapullOY's QIetbod.
In this paper the solutionis obtained by a different method. and this enables one to set new leIulD.

It is assumed that the reader is Dol familiar with me author', previous publlcatloDl. Therefore. not only the
most generalwultl are given here but also a very simple example sball be considered.

By using a new method the author has also lDvestlgated the absolute .tabUity of other types of systems of differeatla1equations (for example.of the system of direct control-" as well as of other classea of noallDear functioDi
(for example-of functions whose graph is contaiD8d within a lector). In all these cases the absolute stability of the
system with several nonllneanties Is also studied (the case of systems with many CODtrolllng deVices).
In his most recent papen DOW in press, the autbor bas studied the stability in certain critical
ltabUlty of systems of differential equations with an "aftereffect".

CISeI

and also the

1. Statement of the Problem

Systems of "indirect control" are considered which can be described by the following system of differential
equations:
(I ==1,2, .. ,

11'.

(1.1)

(1.2)

(1.3)

where .Zk. bE. cl.and Y are constant, and

the condition

qJ

(0) Is a function of clau A. that IS,a continuous function

qJ

(0)

.adsfylns

=0

(1.4)

and also the inequality

-It is assumed tbatthe quanti!)' o. introduced in [6] alwaysvanbhes. It should just be mentioned that if a. ,-0. the trivial
solution ofthe system (1.1)-(1 . 3) cannot be asymptotically stable.
Reprinted with permission from Automation and Remote Control, V. M. Popov, "Absolute Stability of Nonlinear Systems of
Automatic Control," Vol. 22, February 1962, pp. 857-875.

199

0 for a_O

qJ (0) a>

(1.5)

The system (1.1)-(1.3) admits the triviallO)utioD

Xl

= C =0

=0,

(1.6)

whose atabUity il under investigation.

It fs assumed that the trlvlal101utlon of the linear system with

(l

co~taDt

coefficients

= it 2, . ,A).

(1.7)

where a Zk are the lame as in (1.1).11 asymptotically stable, or (which is equivalent) that all real pans of the eigen'values of the matrix Cal k) are nesadve. 11le conditioDt ale beIDa sought which would be satisfied by the quantities
a I k, b I, cl. and y in order that the triviallOlution of the
(1.1)-(1.3) be uymptotically able. whatever the
function tP (0) of the clua A (In other words, a condition of uymptotic absolute stabiUty of the trivial solution). As
we know to aChieve thil.lt Js neceauy that.

.Ystem

,,~

o.

(1.8)

We shall therefore consider In the sequel the inequality (l.8) to be satisfied.

2. Introductory Definitions.

Formulation of Criterion of Absolute Stability

Consider the functions ... Zm (I) (Z

of the equations

I!

1, 2, . , n; m = 1. 2, , n), defined when t c: O. and being the solution

, == f. 2... " )
( m == t, 2. II

(2.1)

together with the Initial conditions

., m (0)
where 6Zm 0 when I - m, aDd6 I m

= 6Z m (l =1.2, .... n; m =1. 2,

, 0),

(2.2)

=1 when I =m,

The functions I m (I) form the fundamenwlJltem of solutions for the system (1. 7).
It

Let Xl (I), E (t) be the solution of the equations (1.1)-(1.3)e. which satisfies the initial conditions Xl (OJ
= I. and let ~ [0 (t)] be a function of t obtained by substituting the function a (t) = ~ C1Z, (t)- T; (t)

Xl' ' ~ (0)

in

(0)

[see (1.3)].

As a solution of the system (1.1) we obtain

ft

%, (t)

"

~ 111",,(1) z.. + ~ ~1II1.

--I

(t -

t) b".cp (a

(Cn tit.

(2.3)

"'10

It follows from (1.3) that

ft

e (I) =

1J

II", (I) %tna -

--I

-II y < O. the UlvlallOlution is unstable when. (0)

al1101uti0DI of the system.

~"(I -

t) cp (cs

(en dt -rs (t).

(2.4)

=:

ha. b>O.lf Y

=:

0, the condition

e (t)

= 0 is not satisfied for

The existence of solutions is a consequence of the assumptions made Jn section 1.

But their uniqueness I. not
usumed in the sequel. A IOlutJoll can always be extended in view of the conditions for stability as formul ated below.
200

where
tI

}J el~l. (t).

I&- (I) ==

(2.5)

'''1
ft

V(t) ==

- ~ ~ C'~I.(t)bM.

(2.6)

1-1--1

Ia agreement with our aaumptioDi the tdvialsolutloD of the system (1.7) Is asymptotically stable. and therefore
two positive constants I<e and 1(1 can be found IUeb that [see ~1) and (2.2)] for all ta:O the inequality

' =r 1,2..,

"_)

,'" == t. 2. t 1&

takes place.
Therefore. for v (t) [see (2.6)] the Inequality

(2.8)

t. valid wbere

"

K. - ~

I-I

"
ICII ~ IbIIK!1-1

We note that In view of the inequality (2. 7), the Pouder ulDlfonn of the funetloa y el) given by the fonnula

U-) - ~ .-, .., (t) tit

(/- Y

t).

(2.9)

o
mUir exist.

We lnaocluce the function

(2.10)

which shall be called the uansfer (unction of the system linear pan (lee Appendix 1).
Now the following theorem can be ltated.
Theorem. If a nonnegative quantity ..9.exists sucb that for all real.:! the inequality-

Re (1

+ j.g) G (jfO) > 0,

(2.11)

takes place. then the trivialsolutioD of the system (1.1)-(1.3) is asymptotically absolutely stable provided the assurnptions made in Sectlonl remain valid.

ReX (or ImX) denotes the real (or,respec:tively. imaginary) pan of a complex quantity X.
201

3. Proof of tbe Theorem In Section 2

COIDlder a.atn die .olation xl (t), E (t). a (t) of the .ystem (1~1)-(1.3) as well
reapoacliftS to II. For any po.ltlve quantity T we define auxiliary functions

cp

~ (t) - - ~ Y (I -

r (l)

== {' (a (t)
0

t) ,.,. (t)

tit -

for
for

81

the function. (a (I

< < T,

0 t
t > T,

. cor(3.1)

~ dv (~- t)'r (C)dt-ql"(O) +rl 9.,.(t).

(3.2)

where S It the quantity occurring in the- theorem. and v (I) is given by the fonnul. (2.6); it follows that [see (2.2)]

== -

" (0)

"

~ c,b,.

(3.3)

'-1

It can eally be seen dlat the function XT (t) is bounded for all 0 :s t ~ T. When t > T., the Inequality (see
Appendix 1)

(3.4)

t." .place

In which

Ke II independent of

t. ThiJ guarantees the existence of the Fourier ualllfof\1l

co

L r Um)

== ~ r-J ' ).,.,

(t) dl.

(3.5)

~ rJ'CPr (I) dt:

(3.6)

'here exull also the If.nsfann

00

r; (/f.) ==

In view of (2.6). (2.1),and (2.?) the Fourier transform of the function dv (1)1 dt exists and can be written as [se
.(2.9)]
00

e-J-f d.,

'::l dl _ /J{ (j.) -

" (0).

(3.'1)

o
Tberefore.bytaldDstbeFourier

transform of (3.2) [see (3.5), (3.61and (3.1)] we obtain

Lr U.) == -

(t

+ jwq) N Uw) + 9r] F r , Uw).

(3.8)

The follow lng function of T is inuoduced:

co

p (7')

= ~ Ar to,r (I) dl.

o
202

(3.9)

The Paneval fonnula can be applied in (1.9) because the function "T (t) I. continuous for 0 s t sTand It
vanishes for t > T. and the function AT (t) Is allO continuous for 0 :$ t :$ T; and for t > T the inequality (3.4) takes
place. We DOW obtain
CD

peT) == ~ ~ Lr (I.) F r

u.) tI.,

(3.10)

-00

where PT (jell) 11 the conjusate complex of F-r<Jw).

By replacing ~ (jc.&I) by (3.8) in (3.10). and by taking Into accoant that

PI' U.) Fr
we obtain

Ucu) .. IF1'

(j.) II,

(3.11)

~ IFr U.>tl(i + I-f) N U-) + fTl fl..

---

peT) - -:,.

(3.12)

By camp.daB their real parts we obtain

p(1') - -

~ ~ IFrU.)IIBei +1.,)NU.)+fTl ll

(3.18)

Observing that [see (2.10) and (2.11)]

Be [(t

+ 1_,) N UfIJ) + 911 -= B8 (1 +1-,) (NUe) + i~) == 88 (1 + i-,) , U-) .? o.

(3.14)

gives the inequality

p (T)

o.

(3.15)

By substltutlnl (3.1) into (3.9) we obtain

,(T) .... ~ 1 r(i) cp(a(t dt < O.

o

(3.16)

By substituting the expression for "T (t) into (3.2) and by applying the formula (2.4) as well as the fannula

":,') _

"
~ t1Pt;,<'~

,
SOIllO -

.....1

~ d" {~~ t> cp (a (t tIC - Iv (0) + 11 cp (a (I,

eaily following from (2.4). we obtain within the IntelYal 0

:S

'-2' (t) == a (t) + f ":t~t) + 1 ~ (I) - ~"

m-l

By substituting this expression into (3.16)

(3.1 'I)

W~

obtain
203

(1&111 (t)

+, dJtr;,C') ) ~

(3.18)

2'

., (a (I a (I) fit

+ 9 ~ ., (a (I

"::') dt

+ T ~ ., (a (I)) ~ (t) dt

ftr
- ~ [z... ~
--,

(p. (I) + 9

~,('))., (a (I)) fit -c O.

(3.19)

Each lean of the expreaioD (8.19) .ball be considered in tum. Por the fint term we have the inequality [see (1
and (1.5)]
T

~ ., (a (I a (t) dJ -c O.

(3.20)

The second term can be lewritten with the aid of the identity
T

~ cp (a (I)) d~~') tIt::::: F (a (7' - F (a (0,

(3.21)

where

.F. (a) .... ~ ., (a) tiD.

G

In the cue when., (0) belongs to the class A [lee (1.4) and (1.5)], the condition
(3.22~

P (0) 2: 0

il fulfilled. with the equality only taking place when a = O. As q is nonnegative, one has. of course, the inequality
- qF (0 (1'

The third term can be rewritten

81

o.

(3.23;

follows [lee (1.2)]:

~ ., (a (I ~ (t) dt = ~ tll,,~')

,(I) dt

+,-

(7') -

~ ~.

A. Y > 0 [see (l.8)] we have

1
-2r~tI

IUch

(3.25:

(T), O.

AI lu u me remaining tem1S are concemed we note (see Appendix 3] that there exists a positive quantity
that the inequality:

(3.26

takes place.
Uling the identities (3.21) and (3.24) u well
(3.19) as

81

the inequalities (3.26), one

204

il

able

to

rewrite the ioequality

~ .., (a (t

a (t) dt

+ 'IF (a (7') + -} 11 (7')

- K:':~~ ...J1.I>,:~;(t>l ,

'IF (a (0

+ ~ 1~.

(3.21)

We shallsbow that the trivtalsolution of the system (1.1)-(1.3) II.table. To this end we combine the inequalities (3.21), (8.20).and (3.23)

~ T,I (7') -

K.

max

.....,I, . n

(Is..ol)o<t<T
sup I' (t) I, 9F(a

+ ~ T~'

(0

(3.28)

Let t be an arbiuary positive quantity. The inequality (3.28) is valid for any T > O. In particular, (3.25) remains valid for T (t) sueh that the inequality
(3.29)

OsT(t)$t

takes place. and abo the equality

(3.30)
Such. quantity T (t), of come.

e~is1S.

It 11 easy to lee that tn view of (3.29) the Inequalities

I; (T (t I, sup I e(t) I ,sup I e(t) t

(3.31)

o<t<I

o<t<T(I)

take place.
By compadng (3.31) and (3.30) we obtain

I;
When conaiderlng (3.28) for T

~ dl

(T (t -

(T (t

I == sup I ~ (C) I
o<rC')

(3.32)

=T (t) and by using (3.32) we obtain

s,fft:==1.1,
max
( 1Zmo I)I,
"

(T(l}) 1- 'IF (a (0 -

1
2

r;:<O. (3.33)

(3.33)

The polynomial of the variable 'I (T (tJ in the lefthand side of the inequality (3.33) has real roots of opposite
sign.....hen made equal to zero. The inequality (3.33) is equiva1~t to the inequality
t

Il (T (t I, -Kc max (I %mol)

T

+ ~ VK:

(max

tn-I.I....."

(I ~moP)I+ 21(qF(0' (0+ T~'

--1.1.,.

(3.34)

which is valid for all t > O.

One can find two positive quantities

I<I and Ks [see Appendix 4] such that for all

t >

0 the inequality

(3.35)
takes place.
205

By applying (3.30). (3.84),and (3.35) we finally obtain

IE(I) I< K~,:~~.." (I s..o I) +

(3.36)

(3.37)

Let c be an arbitrary positive quantity. There exists than a 6 >0 such that wben I x It 1< 6 and J 10 I < 6. the
rlgbtbmd lidea of tbe Inequalities (3.36) and (3.3'1) are leu than (~and therefore the inequalities J x, (t)
E and
II (t) 1< E take place. Coasequently. the trivial 101utio n of the system (1.1)-(1.3) is stable according to Lyapunov.
Moreover. it follows from (3.36) and (3.3'1) that all the solutions of the system ale bounded. This implies that all the
solutiolll of the Iystem (1.1)-(1.3) can be extended for all t ~ o.

1<

It .hall be shown DOW that the trivial solution is also asymptotically stable for any tp (0) of the clan A. We
combine for tbls purpo.se the lDequalides (3.27), (S.23),and (3.25):

.,.
~

(a (I)) (f (I) dt

<; K.

mu:

( Iz.d .up

Il (e) I + qF (a (0 +

KtC

.....1.1 ,,,

+T~'

(3.38)

By making use of (3.S6)

T

(a (I a (I) dt

< It (%mo, eo),

(3.39)

where fl (Xliii' E.) 11 specified fUDction of the variables Xm and EI.

TakiDS Into account the reaction [see (l.1), (1.3)]

(3.40)

[In the above formula xk anell satisfy the inequalities (3.31) and (3.36).
is a continuous fUDCtlOD of 0]. we obtain the Inequality

is detennined by the equation (1.3) and

., (0)

(3.41)
where

f.<xm" ,> does IIOt depend on t.

By UlIDB (3.89) and (3.41) we obtain [see Appendix 5]

lim 0 (t)

'-to:

Here we make use of the fact that F

(0

(0

is a continuous function of 0 (0), vanishing when 0 (0)

ft

the equality

(0)::

~ ei6l0-Y L

=0

[see (1.3)].

1-1

206

(3.42)

=O. and also of

andallO

,....

(3.43)

lim , (a' (I == O.
because "(0) is contlnuoUl faDction.
Prom (3.43) and from the equatlo.. (2.3) one obtains [see Appendix 6]

lim s, (t)

'-.00

== 0..

(3.44)

The relation (l.3) implies .[see (8.42) and 'S.44)]

lim
,....

"
e(I) -lim ...!..(~
:r:, (t) T '_1

at) == O.

1-.00

(3.45)

Tbe theorem has thus been plOved.

4. Comparing the Results with the Results Obtainable with the Aid of LyapunovFunctiOD' of Known Kind

It is of interest to compare the criteria (2.11) of absolute stability with the ones which can be obtained by constructing a LyapUDOv function of the kind described u a -quadratic form plus the integral of the nonlinearity" [6-8].
We sball show that the latter are included in me criteria of the theorem In section 2. that Is, if for the system
under iDvestigatioD there extla a LyapuDOv function of the above Jdnd, then a Donnegative quantity q also exlsb such
that the inequality (2.11) takes place.
By differentiating the equation (1.3) we obtain a system equivalent to the (1.1)-(1.3):

(I

: -

"
~

'-I

"

c, (~ a,k%t

&:

t. 2, II),
(4.1)

+ 6,4p(3) )-r4p(CS}.

1'..,

It is shown In Appendix 7 that the mOlt ge~ral form of a negative definite Lyapunov function which 11 of the
kind described u a -quadratic fonn plus the integral of the nonlinearity" and which can be formed for the system (4.1)
takes the form
tI

"

V == ~ ~ :r:,r",,:r:.. -

'"

It (

1-1--1

a - ~ c,x,) - 2Jl ~ 4p (a) tlJs.

1-1

(4.2)

with the parameters fZ m,a, 8 satisfying the conditions:

r,m == r"",

(J

::> Ot P:> 0. + P > o.

(I

(4.3)

The derivative of this function which, in accordaace with the s.ystem (1.4)e

+:: + ...., (0) ( a-

ft"

W(z,. 0) == ~

ft

1-1

"

"'-I

:r:,r,.. (~

IJrntXa

+ b..cp (0)

1t==1
ft

~ c,:r:,) - p4p (0) (~ c, (~ 1I,.:r:. + h, 4p

I-I

l=-1

(a)) -fCP (a)

k=-1

mUit be positive definite for all functions "(0) of the class A. and in particular when
-tl
ft
We note that iii (0 - ~ c, .,)=- -,. (0).
I-I

200

(4.4)

rp (0)

= h o, h>O.

(4.5)

By putting (4.5) in (4.4) we obtain a quadratic fonn of real variables Xl and 0 which must be positive definite.
This implies that for all complex values of Xl and a not vanishing simultaneously the inequality

".

"

ft. {~ ~

"

;;r,,,, (~

1-1 tn-I

40nk %"

+b",ha) + arM ( a -

-~Pha(~ c, (~ all'Zk + b,ha)

"

'=-1

rJ

C,%,)

I-I

It-I
tL

"

- r ha )}> 0.

k-I

xl

(4.6)

il valid, the quantities

and 'lJ being conjugate to Xl and a That this is so can be seen by putting in (4.6) xl = ul
+ iV, CI = 1 + jUt with ul vI .....and 11 real; the
left-hand side of (4.6) assumes the form 1 (W. (Ul .IJ) + W,
('1 II. where W. il the quadratic form (4.4) with tp (0) he, ThUl, if
vI t Il.and v do not vanish simultaneous)
It

uz.

we have the Jnequality (4.8).

The Inequality (4.6) il satisfied in the particular case of
t

a= h'
s == M. (jCIJ)

(l = 1, 2, .... 0,11),

(4.7)

where Ml (jcu) satilfy the synem of limultaneous equation!

n

/mM, (jm) = ~ tz,ItM. Um) -t- hi

(I = t, 2...... ,ra).

(4.8)

.=-1

The system (4.8) hal a unique solution for any leal was according to our assumptions (see section 1) the matrix
imaginary eigenvalues.

(al k) has no purely

By taking Fourier uansfonns of the system (2.1) including (2.2l we obtain

.ft

jfJIF {~Im (l)}

== ~

t-J,

o,r.F ('I'hI (t)} + 6'm

' = 1.2
( m == i,2

0, II

, II

'

(4.9)

where
DO

F (""". (I))

= ~ e-J-'1I'". (t) dl.

(4.10)

By comparing (4.9) and (4.8) we obtain

ft

ft

M, (j0) - ~ F (... (t

h. = ~ ~ r i "'1jI,,,, (t) b",dt.

--1

t'ft=al 0

(4.11)

Substituting (4.7) into (4.6) and using the relations (4.8) we obtain

~ ~
ft

ft.

"

'-1""'.

+ r{+ - ~ c,M,U.)
"

MJ(jm) r'mjwM. Uco)

I-I

- IS (~ c,j.M,U-) - 1 )} > o.
I-I

208

{4.12)

Suttee (4.11), (2.6). (2.9)]

"

"

cIM, (jeo)== 1}

"

CIO

~ ~ ritl'ci'l'IM (I) bllltit == - ~ r~ (t) tit

1-1 .....1.

1-1

- - N U.).

(4.13)

In view of rl m = rm I. we have"

Be ~

ft

~ M, U.) r'lII j.-MIII U.) == Be

1..1--t

+ M, U.) M.

{+ j.:E :E ()I, (j.) II. U.)

1-1 . .1

U.) )r,,,,}== o.

(4.14)

The inequality (4.12) can therefore be rewritten u

(4.15)

or [lee (2.10)]

~t + He (Clr

+ j.P) G (j.) > o,

(4.16)

The above consideration remain valid for any real w. Thus. it bu been shown that for a LyapUDOv function of the
considered kind to exist it is necessary that the inequality (4.16) be valid for all h>O and for any w.
If a .. O. [see (4.3)] and thus if a y >0 [see (1.8)]. from (4.16) must follow the iDequality

(4.1"')

Indeed. should the inequality (4.17) be invalid for some w = Wo. then a positive quantity h exfla luch that the
inequality (4.16) wUl not lake place for w wo. The necessazy condition (4.17) il identical with the inequality (2,11)
if q Slay> O.

If a. O. we obtain from (4.3) aDd (4.16) the inequalitiel

(4.18)

P>0,
RejmG U.) > e.

(4.19)

We mall now consider certain properties.af the fUDCtion N(jw) [see (2.9)]. The fUDCtion N(jw)is a
fUDCtloo of w 10 view of the ioequality (2.8). By tbe R1emanD-Lebesque Lemma

caadnuous

lim N (j.) = O.

'-I-.eo

(4.20)

Therefore. there exists a positive number PI such that for any CIl
(4.21)

HeN (jw)>- PtBy

me Rlemann-Lebesque Lemma

we also obtaia* [see (3.3)]

lim IwN UCD)

I 100+0)

== v (0) == -

:E" (,b,.

I-I

We note that 1m (M.(jfl) M",(jUJ)

M, (j-l AI. (;(1)) EO.
From the relations(2.6) ,(2.1) and (2. ') It is ealyto find that the Integral

r,dvtt>l
J -r III musteonverge,

o
209

(4.22)

It follows from (4.21). (4.22) and (2.10) that

ReG(j_) == ReNU.-Pl,
lim

i-e U-) =r

I 1-..00

"

11m JJi U.) + T == - ~ c,b, + T

'-I

,- 1....oJ

(4.23)

> O.
=

The laner II necawy COIlcl1don aDd can be obtalDed from(4.6) and (4.18) by putt1Dg Xl O. 0 lIb. a
O. It follows from (4.19>. (4.24) and from Ibe CODtimdty of die function G(Jf4 dlat a positive qua.lty p. can be
found such that for aoy real w the Inequality

I:

He JflG

(Jw p..

(4.25)

takes place.
By multiplying the inequality (4.25) by 21\/ P.and by adding the result to the inequality (4.23), we obtain

Re( t

+ 2 ;1
I

if)))G
(jCIJ) > - PI + 2Pl > O.
.

1be laner implies Ibat the inequality (2.11) II valid (at a IUODS inequality) when q

(4.26)

=2Pl/P. >0.

ThUilt bal been proved that dle 1Dequallty (1.II)suffices for dle trtY1alsolutioD of the .y.em delClibed In
section 1 to be abeolately asymptotically .able and also to be a Ilecellary cond1dOD for the exiltenec of a LyapUllov
flDlCtiOD

of the conddaed type.

Remarks. (1) In order to construct a Lyapuaov fuactioa of die -quadradc form- type (that 11 of the IdDd al In
(4,2) with 8 0) It it Deceauy that the laeqaality (4.1 '1) bevalid with 8 0, Ibat il that
(4.27)
for

any real w.

The coDdldoo (4.2'1) IIlufftclent far the ahIOlute uymptotlc liability of the trivial lolution of the tyltem uDder
invatlsatloa.1 In ddI cae Ihe inequality (2.11) occun far q O.
(2) Molt of the LyapUDOY func1iol1llO far CODltnlCted In [8] are of the Idnd al fa (4.2). with a = O. That Is
why it 11 nec-.ry that the i_quality (4.19) be Yalid~ die latter I, .110 auffJcleat for the ablolut. Itabillty of the

Iystem trivial IOlutlon.

Tbe condition (4.19) can allO be written for any real positive w al
1m G (-jw)< O.

(4.28)

11111 foliowl from the relation [see (2.9) and (2.10)]

ImG (,61) .. -1m G (-;.)

(4.29)

and from tile inequality [see (2.10). (3.'1). and(1.8)].

(Re

i.e (;1)

)..-0 - T>O.

(4.30)

(3) It would be interesting to find the seneralsolul1OD of the followi. . mverse problem: U the coaditiOll (2.11)
is satisfied il it always possible to coastrUCt a LyapUDov funetloD ti the kind al in (4.2)' Pot lome relatively Simple
cases the anawer iI In the aftlrmative.

5.

Various Analytic aDd Graphic Porms of the (2.11) CrlterioD

The function (1 + j fdq)G(jw) CAn be written al

210

(1

. )G U) == PQ(iCd)
(I.)
+lfM1

(6.1)

fa)

(. . Appeaclix 1) with P (Jw) and 0 (jw) being polynomiall of jW. The coad1t1oD(2.11) can

DOW

be written al

or

R(z)

:> 0,

== ml ,

(5.3)

-=

vb. . R (x) 11 a polJDOmfal of the variable

The condition (~11) 11 reduced. therefore. to a polyaomfal of.!. belng
aoaaepdve for x ~ O. '!be IOlud. caD be abtamed by .... ItaDdaal alsebme metbocJs.
AD ubltrary DODDe.at1ve parameter..9. appean III the criterian, whlch caD be lelected in a IUltable manner in

every apec1flc cue. The algebraic methodl for obtaining the optimal valoea of 1 quite Jtraflbtfcrward.
'lbe (0110w_ F.phlcal criteria of absolute alymptotic subBlty are of Ipecl.llDterest fa practical .ppUc.tlons.
TbelOCU1 of.e poflltl (u. v) III the plane of (u. v) such that
II

(co) == ReG (/OJ),

17(0)

== mImG(jC'd)

(6.4)

.al1 be called the -modified pbue-ampUtude characteristic- (M.P. A.C.). Directly from (1.11) we obtalD che Inquality

u(m)

+ qD(m) :> 0, q > 0,

which meaulbat the M. P.A.C. 11 In a half-plane.

A srapb1cal cdtmOD (PfS. 1). If there JI lIraJsbt Uae dtuated _ . III the fInI: .... the dWd qaadraDII d Ibe
(a. v) pi. . or It" die orcUDate axll- aDd Ia add1doa ~ lIauch that d1eM.P.A.C.ls-oathedgbtof tbb atralptlfne.
then the trivial solution of the lDYeatipted system 11 absolutely asymptotically stable. One may add that the
M.P.A.c. II on the right- of tbliltraight llDe if allY polD~ of the M.P.A.C. Is either on the straight line or it II In
the bali-pia.. bounded by this sttalsbt llDe and coatalnlng tile polDt .(+-,0).

of.) or JiIJl-J

Fig. 2.

FiS. 1.

We note that in die criteria (4.27) or (4.28) which described the results obtainable by the usual kind of LyapUDOv
fuactlOO (lee Remarks (1) and (2). there Is DO arbitrary parameter.

Sucb straight llDe obviously puses through the origin. Its equation is of the form u + qv
Or. otherwise. that the inequality (S.S) takes place.

211

=0 with q

2::

O.

Fig. 4.

Fig. 3.

The oldinary phase-amplitude characteristic can also be made use of in order to obtain simplified graphical
criteria of absolute stability.

The following graphical criterion is obtained from the condition (4.2'7).

Simplified graPhical criterion No.1. If all the points of the ordinary (or modified) pbase -amplitude characteristic are situated "on tbe right" of the ordinate axis. the trival solution of the system under investigation is asymptotically absolutely stable. (Fig. 2)
It is necessary that this graphical criterion be latisfied in order that a Lyapunov funcnon of the "quadratic form"
kind may exist r.ee Remark (1)].
Prom the sufficient condition (4.28) of stability another simplified graphical criterion is obtained.
Simplified Sf.plca! criterion No. 2.lf. when w>O. all the points of the ordinary (or modified) P.A.C. are situated
in the third or the rounh quadrant or on the negative ordinate semi-axis. then the trivial selutton of the system under
investigation is asymptotically absolutely stable (Fig. 3).

It 11 necessary that this criterion be fulfilled in older that a LyapuDov function {5.3)with a ::: 0 may exist [see
Remark (2)].

We should like to mention that no simple method exists to express the general graphical criterion (Fig. 1) by
means of the ordinary P.A.C. knowing the ordinary P.A.C.,one is able to obtain the modified P.A.C. by mUltiplying
the ordinate of each- point by the corresponding value of the variable.
6.

Concluding Remarks

The maiority of the argumenfJ developed in die preceding sections can be awlled with practically no alterations
to more general cases meDtioaed in me introductlon,and results of similar nature are obtained.
The fact that in the criteria omy the "ansfer function of Ibe system 'lInear pan appean. apart flOm the simple
assumptions of section 1. seems to constitute the main characteriltlc of the achieved results. The latter need not be
evaluated with the aid of the fODDula (2.9) but can be obtained by more direct methods which have been deVeloped
for linear systems of automatic control. The graphical criteria of absolute stability developed above are allO applicable
when DOthlng but iu linearity and independellCe are known about the linear block of the system. Its phase-amplitude

characteristic being determined eXperimentally.

The author wishes to exprea his thanks to the eeneenve of research-worken in the field of ordinary differential
equations of the Mathematical IDstitute of the Academy of Sciences of the Romanian National Republic, in particular to Professor A. Khalan,for the interest they have shown aDd for their valuable r,,narks.
APP ENDIX 1
The investigated system can always be represented in the form of a block diagram as in Fig. 4 where the linear
block II denoted by L. the laner described by the system of equations

212

"

11:=- ~

CIS,

+ Tl-

(1.1)

1..1

and N representing tbe nonlinear block. The input and the output quantities of the linear and nonlinear bloclcl are
related by the eCluadons

fJ =- - cr; =cp (er).

(1..2)

co

Let z' (t) be a known functfoa such that the integral ~ I at (.) I
u~m~

exists. and let L {z et)} be its Laplace

n
co

L (.. (t)

= ~ .-'ae{t) tit.

fte _;> e.

(1'.3)

o
Let further x' ,Ct), I ' (t). JJ' (t) be the 101utionof '(1.1) when z :: zO (t) aDd when the initial conditiolll are all
nul. It follows from the auumptioas in section 1 that L{xl el)} exists at least for Re I 2 O. and L {C' (t)} and L {'J'
(t)} exist for Re I > O.
Taking Laplace transforms of (1.1) we obtain

"

.L (sf (t) =- ~ .,~ (ao: (I)

+ baLflD (t)).

Rs 8;> 0 (I = f t 2, .. n).

(1.4)

~1

,L (,' (I
L ('l'

('

== -

"
~

== L (sO (t)).

e,L (~?

Re

8>e,

(' + rL (~O o.

(1.5)

Re ,

> o.

/-1

0.6)

The system of simultaneous equations (1.4) has a unique solution wben Re s > 0 (see the assumptions in section
1).

Now taking Laplace transforms of the system (2.1) with the initial conditions (2.2):

,L (1),,,,

"
(, - t::l:l
~ tJl~ <",__ (I)} + aim'

Be 8 ;> 0 (' = t. 2, " ).

m==t,2 ,11

(1.7)

= 1. 2.. II).

(1.8)

By comparing (1.4) and (1.7) we obtain

L (sf (I) = (~ L(.l'" em b",)L (zO (t)). Re - ;;> 0

(I

m:-l

Using (I.S).(I.6),and (J.80)gives

(1.9)

where

(I.10)
"

N (.) = - ~ ~ e,L

(.,m

l==l 71'=-1

(t)} b",

II

88'

> 0..

(1.11)

Th~ function G(s) defined by the equations (1.10)-(1.11) is the transfer function of the system linear block. Tbe
function G (I> Is obtained in the fonnof a rational function of..!: The above considerations are only valid when Re
213

s > 0. we shall say nevertheless that G (s) II a traosfer funCtiOD if it is a rational Cunction defined in the whole s..pia,
and obtained as the analytic continuation of the G(I) function.

It should be mentioned that the function L {.zm (t)} exlsu when Re I 0 and that when I jw (w real). then
L{t' m (t)} P {tLm (t)} [see (4.10)]. By comparlDg (1.11). with (2.6) and (2.9) we see that when I = jw ttte Cunctic
(1.1.1) II equal to the function of (2.9). Tberefore.the function (2.10) 11 equal to the above defined function G (s) Wi1
jw.

APP ENDIX 2
By uslog (3.1) and (3.2) we obtain for t > T
T

AT

e,) == - ~ (" e, -t) + 9 dv e~;- C)). Co eC) dC.

(11.1)

ButJee (2.6). (2.1) and (2. 'l)j

Ii"

1"(')+9 ~:')I~~ 1011(1 +9 ~ ~ J/lh&I)~ '''elKle-K. ' .

I-I

Therefore,

ft

ft

"

(11.2)

i-I

i-I tn-I

I e) + e~;- t) Itit
~~b'.(O(c)H~ 1 11(1 + -s ~ I/llrml)~ '''fIK1S.-K,C'-t)~.
--I
, AT (') , ~~~~" (0 e 1~ v (t o
~

ft

ft

9 d'V

ft

1-1

i-I

(11.3)

i __1

Thia gives the inequality (3.4) ,where

n

ft

X. == B1Ip

' P (0 I ~ 1eel (1 + 9~

o<tii:2'

I_I

ft

~ 1Clml) ~ '''d ~: (,K.r

i-I m-1

-t).

(11.4)

t-l

For a specified solution of the system and for a given T. K, is a constant.

Therefore the Pourier transformation (3.5) exists.

APPENDIX 3
Prom the equation (1.2) we obtain

B-

S(Pm(') + /~,(')) 9r (0(1)dl -= S(11m (') + f .;,<')) ~:t) dl.

o
The integration by parts gives

B - [(... (')+ f
and bence, In view of

I e(T) 1<

IUp

o~<r

~,(') )i (l)r - i (,)(dl&=,(I) + 9 ~,,(l) )111,

I e(t) I Il (0) J < sup ,; (C) I. it follow. that
o<t<r

( I

B I ~~:lTI (0 I 2~~r fI...(') + f

dflm (l)

I rei

tip", (')

--;u- + J --;n- + 9

dip", (,)
ttl'

Ifl'.)

(111.1

(111.2

UD.3

(DI.4)

un.s:
214

By lubldtutlng (111.4) and (DI.S) into (DI.S) .nd b, using the inequality
T

CD

4I-"of tit

< S,-Ie" tit =- K.

(m.8)

we obtain the lDequallty (3.28).where

K.- ~
"

I-I

fa

"

I.,'(! +f ~ ~

,.

"

'-_')(2+R; __-1-'-1
~ ~ I-....,)K..
t-l--1

(11I.7)

APPENDIX 4
By replacing" (0 (I ID (2.8) by de(C)/dt [lee (1.2)] and by integrating by pam we obtam
., (I) -

~...

....1

--1

C..

~ .,. el) + ~ 6. It,. (' - Q i (C))

Prom (2.1) and (2.1) It follows that

AI

--I

dt,.(I-C) Ci,
fit

(lV.l)

, ~I (I) I <' XIII max (I~mo Il

"

... LJ 6", 11 (0

ft",

+-pIUOIK. ~ lb.' (2+ ~ ~ '-'kl~rK.(""Q",).

1-1 k-l

m-l

(lV.2)

.-".('-0 tit< S.-".(1-0 dC _ i.. we obtain the inequality (3.35)wbehl

-GO

XI

== dl.

X,-XI

"

ft

~'i.I{2+.:.~ ~ I.,kl)

....

1-11'-1

APPENDIX 5
The result (3.42) could be obtained by making use of lemma published by 8arbalat [9]. Below we shall give
a more direct proof.
We aDume for this purpose that (3.42) f. not true. Then a positive quantity 6 and a sequence of quaadtfea tl
must exist such that

la (t i) 1>6.

'.>0,

lim

t~

'f == +

00.

(V.I)

Let the solutloD in question [see (3.41), (3.36), (S.3'1), and (1.3)] be

(V.2)
The sequence tk can be selected such that
6

c1

't - 'k-t

Wben

I'-'tl<

> M.

tl

> 2M,

(V.S)

c\
2M 1 wehave
t

M.> I" (') / =

13 (It) + ~

d~~') dt I> I a ('(t) 1- JlIl

/, -

't I> -} 6.

't

We abobave [see (1.4) and (1.5)]

where N (T) is an lDdex such mat

.+-!...

NfT) Ii

(G

'N(T)

cs (.) d. > ~

IN.

tp (cs (.cs (I)

a
t - iii;

t.==l t

6
+ ?M
~ 1

,Tan"de

N(T)+1

215

(V.4)

+ _6_
>T
2M!

tI,.

(V..6)

Obviously

1i.1I J\i (11; 00.

.,0'

,.

(V.6)

Let inf 1,,(0)1 =m. Then we obtain from (V.&) [see (1.6)]
.~

.,.
~ .(G(t)~(l)dt ~:. N(71)~.!.m"

<1'-1<)1.

(V.7)

M. 2

In view of (V.6)
T

lim \ "(0 (I G (t) dt =

T....oaJ
o
which connadiets (3.39). and so (3.42)is proved.

00,

APPENDIX 6
In order to prove the relation C3.44) (see (2.3)] it is sufficient, In view of (2.'1). to prove that

Ii m

S11',,,, (t -" t) cp (~ (tn flt ;:: O.

(VI.I)

,... co ..

rollows flOm (3.44).

According to (2. '1) we have
t

I~ .m'('- o..(4 lit I

,K S
,

Il

t- .<l - Q I. (cs (CU

(Vl.2)

o
0
By applying de 1 'Hopftal rule (see. for example. (10]) we obtain [lee (3.43)]

JeKet I cp (0 I de

lim \ e-KCI- t ) 1cp (0 (tU I cit == lim 0

'.-.co

'.-...00 oJ

,x_til

=J lim I. (G(')' = 0,

(VI. 3)

&'0' . . 00

and hence follows (VI.I).

APPENDIX 1

It can easny be seen that the most general negatiVe definite LyapUllOY function of the type "a quadratic forr
plus the integral of the nonlinearity" ean be represented as
"

with rZm.

Cl.

"

ft

'II

=}1 ~ z,',,,,z...- CI (cs - ~ CfI,)& - ~ ~ .. (cs) fIG + 2G ~

r=at ",:al

'==1

8. fl being constants. The denvative of

me v

en-.

IfI,.

1==1

(VII.I)

function by virtue of (4.1) assumes the fonn

2 2t=Jf (z,.cs)+cs~ I, (~.,~t+b,.. (CS)

'Co

+ ~ I,Z',
'::a1

It

t=l

1==1

rs

"

1:,

1-1

ts

G'IrZk

+ blip (IS) -

Tlf (G)]

(VII. 2)

....1

where W (Xl, Q) is given by the exprealoD (4.4).

We sballshow that the equalities
(z

are necessary. We note that the function

1 dV/dt

=0

(1

= 1. 2.

(VII. 3)

D)

is positive wben

00

~l

,.. "'m (l) ",

== .,~ =: 8.](

216

(l

= t. 2. _..

n)

(VII)

'(7) = a'cs,

(VI1.5)

(V11.6)

tJ

1,

wbere !!!.JI one of the lntegen 1. 2. n: t t m (t) the functions Introduced in section 2, and E an arbitrary (positive
or negltive) quantity. The function (VII.5) I. of coone of the class A. By integrating (2.1) we obtain. In view of
.'m (t) [see a110 (2.2)],
n

- "'m (0) = -a'm =

Consequently [see

k=l

(VII.4)~

co

"I. ~ +km (I) dl.

(V11.7)

"

~ tJlks~=- - e~'m

(VII. B)

k!l:l

It is easily seen that for the values of (VII.4)-(VII.6) the function

dV /dtcan be written as

~ ;:- = (~ " ~ "z.t4) a + 0 (8').

b=l

k==l

(YO.9)

in which 0 (E) denotes terms with the property J 0 (E I) J< KE J. with K being a constant.
Prom (VI1.9) using (Vlt8) we obtain

(VI1.10)

If rm ;III O.then for a sufficiently small E the expfelSioD (Vl1.I0) has the sign of - f m ; rile latter, however. is
arbitrary because the sign of is also arbiuary. It is therefole necestary that Em = 0 be true, As!! was taken as
arbitrary we see that the equalities (VII.3) mUlt be true,
The function (4.2) Is negative when Xl = O.a ='L,
-Cl-

1&.

a<0

tp

for

(a)

=ho , h > O. Tliis gives the inequality

any

(V11.It)

which proves finally the relations (4.3).

LITERATURE CITED
1.

2.

3.
4.
5.
6.

7.
8.
~.

10.

A. L Lu'e and E. N. Rozenvasser, Methods of constructing LyapunoY functions of the nonlinear control systems
theory, Proc. of the First International Conference on Automatic Control, Acad. Sci. USSR Press (1961).
Sci. Press (1961).
V, M. Popov. Criterii de stabilitate pentru sistemele neliniare de reglare automata pe utikizarea transfonnatei
Laplace. Studli si Cercetarii de Energetica. Anui. IX. No.4, 1959.
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organe oe executie. Studii si Cercetari de Energetica. Anul. IX, No.4, 1959.
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V. M. Popov. Hoi criterii grafice pentru stabilitatea starii stationare a siltemelor automati nel1niare. Studii si
Cerletari de Energetica. Anul. X. No.3. 1960,
A. M. LetOY, "rhe stability of nonlinear systems UDder control, Gostekblzdat (1951).
A. L Lur'e. Some nonUnear problems in the theory of automatic control, Gostekbizdat (1951).
V. A. Yakubovlch, Nonlinear differential equatlonso.f Automatic control systems with a single controlling device, Bull Leningrad tJnlv. t No.7 (1960).
I. Barbalat, Systemes d'equatloDl differentie11ea d'osclllanoDS non lineaires. Revue de matbematiques pures
et appliqu'es. Acad. R. P. s., vol, 4-.,No. 2, 19f'9.
Miron Nicolescu. Analiz" MatematicX. Vol. II. Bucaresti Editura Tehnica. 1958.

217