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Equilibrium Point(Examples). Ex:.  Find equilibrium point. (i). This implies that. (ii).  Analyze the stability of the equilibrium point. (i). Equilibrium Point(Examples). (ii). Thus the system is (globally) asymptotically stable. Instability Theorem. Instability Theorem.

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Equilibrium point examples l.jpg
Equilibrium Point(Examples)

Ex:

 Find equilibrium point.

(i)

This implies that

(ii)

 Analyze the stability of the equilibrium point.

(i)


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Equilibrium Point(Examples)

(ii)

Thus the system is (globally) asymptotically stable.


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Instability Theorem

  • Instability Theorem

Motivation :

Formulation :


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Instability Theorem(Continued)

If these conditions are met, the following can be constructed

(1)


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Theorem

Theorem :

Proof :


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LaSalle’s Theorem

  • LaSalle’s Theorem (invariance principle)

Motivation :


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Theorem

Theorem :


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Theorem

Theorem :

continuously differentiable p.d.

radially unbounded

Proof :

Using the idea of limit set & invariant set, it can be proved.

Ex:


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Examples (Continued)


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Linear System

  • Linear System

leading principal

minors are all

positive


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Theorem

Theorem :

Proof : Sufficiency follows from the Lyapunov stability theorem.


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Proof (Continued)

Then


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A-Hurwitz

Routh-Hurwitz

test

Proof (Continued)

Thus



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Stability Analysis through Linearization

  • Stability Analysis through Linearization : The first(indirect) Lyapunov method

    • Motivation :

    • Formulation : Theorem



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Proof (Continued)


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Advantage & Disadvantage of the indirect method

  • Advantage of the indirect method : Easy to apply

  • Disadvantage

    • Only asymptotic stability can be investigated

    • : continuously differentiable.

    • Critical case :

    • Domain of attraction is unknown


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Application to Control

  • Application to Control

Theorem:


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Theorem

Proof:


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Selection of Lyapunov function Candidates

  • Remarks on the selection of Lyapunov function Candidates

    • Quadratic form : Works for linear system.

    • Quadratic form plus integral of nonlinearity


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Krasovskii’s method

  • Krasovskii’s method

Premise :


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Proof

Proof:



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Variable gradient method

  • Variable gradient method

Idea :




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