Construction of lyapunov functions with linear optimization
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Construction of Lyapunov functions with linear optimization. Sigurður F. Hafstein, Reykjavík University. What can we do to get information about the solution ?. Analytical solution ( almost never possible )

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Construction of Lyapunov functions with linear optimization

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Construction of lyapunov functions with linear optimization

Construction of Lyapunov functionswith linear optimization

Sigurður F. Hafstein, Reykjavík University


Construction of lyapunov functions with linear optimization

Whatcanwedoto get informationaboutthesolution?

  • Analyticalsolution (almostneverpossible)

  • Numericalsolution (not applicable for thegeneralsolution, badapproximation for largetimes for specialsolutions)

  • Search for trapsinthephase-space ( trap = forwardinvariant set)


Dynamical systems

Let be the solution to the idealized closed physical system

Dynamical systems

Then, by conservation of energy, we have

or equivalently


Dynamical systems1

Let be the solution to the non-idealized closed physical system

Dynamical systems

Then, by dissipation of energy, we have

or equivalently


Construction of lyapunov functions with linear optimization

Energy vs. Lyapunov-functions

Real physical systems end up in a state where the energy of the system is at a local minimum.

Such a state is called a stable equilibrium

If we have a differential equation that does not possess an energy, can we do something similar?

Answer by Lyapunov 1892: if similar to energy Kurzweil/Massera 1950‘s: such an energy exists

YES !


Construction of lyapunov functions with linear optimization

Example:

where

Partition of the domain of V:


Construction of lyapunov functions with linear optimization

Example:

where

Grid :


Construction of lyapunov functions with linear optimization

Example:

where

Values for , that fulfill the constraints


Construction of lyapunov functions with linear optimization

Example:

where

Convex interpolation delivers a Lyapunov-function


Construction of lyapunov functions with linear optimization

Example:

where

Region of attraction:


Generated lyapunov function

Generated Lyapunov-function


Generated lyapunov function1

Generated Lyapunov-function


Generated lyapunov function2

Generated Lyapunov-function


Generated common lyapunov function

Generated common Lyapunov-function


Arbitrary switched systems

Arbitrary switched systems

right-continuous and the discontinuity

points form a discrete set

common Lyapunov function

asymptotically stable under arbitrary switching


Construction of lyapunov functions with linear optimization

Variable structure system


Construction of lyapunov functions with linear optimization

Variable structure system (sliding modes)

Weallowthesystemtoswitch

arbitiarybetweenthedynamicson a thinstripoverlappingtheboundaries


Construction of lyapunov functions with linear optimization

Variable structure system (sliding modes)

Weallowthesystemtoswitch

arbitiarybetweenthedynamicson a thinstripoverlappingtheboundaries


Construction of lyapunov functions with linear optimization

Triangle-Fan Lyapunov function

(with Peter Giesl Uni Sussex)


Construction of lyapunov functions with linear optimization

Extension of the region of attraction

alsowith

Peter

Wemakeadditionallinearconstraintsthatsecure

Thentheregion of attractionsecuredbythe

Lyapunovfunctionmustcontainthegreen box


Construction of lyapunov functions with linear optimization

Extension of the region of attraction

withoutoptimization

withoptimization


Construction of lyapunov functions with linear optimization

Extension of the region of attraction


Construction of lyapunov functions with linear optimization

Differential inclusions and Filippov solutions

(with L. Grüne and R. Baier Uni Bayreuth)

is convex and compact

is a Filippov solution iff

a.e.

and

one allows evil right-hand sides, but demands

high regularity of the solutions


Construction of lyapunov functions with linear optimization

Differential inclusions and Filippov solutions

is convex and compact

for

where

is upper semicontinuous


Construction of lyapunov functions with linear optimization

Differential inclusions and Filippov solutions

Clarke, Ledyaev, Stern 1998

is strongly (everysolution) asymptoticallystable

possesses a smooth

Lyapunov function

The algorithm can generate a Lyapunov function for the differential inclusion, if one exists. One just has to demand LC4 for faces of the simplices if necessary


Thanks for listening

THANKS FOR LISTENING!


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