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Outline: Onstruction of Yapunov Functions

The document discusses various methods for constructing Lyapunov functions to analyze the stability of systems. It introduces the variable gradient method, where the gradient of the Lyapunov function is written in terms of unknown parameters that are then solved for using curl conditions. Krasovskii's more general method is discussed. Physically motivated Lyapunov functions are also covered, such as using the total energy of mechanical and electrical systems. Examples are provided to illustrate the different techniques.

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Rahul Roy
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55 views3 pages

Outline: Onstruction of Yapunov Functions

The document discusses various methods for constructing Lyapunov functions to analyze the stability of systems. It introduces the variable gradient method, where the gradient of the Lyapunov function is written in terms of unknown parameters that are then solved for using curl conditions. Krasovskii's more general method is discussed. Physically motivated Lyapunov functions are also covered, such as using the total energy of mechanical and electrical systems. Examples are provided to illustrate the different techniques.

Uploaded by

Rahul Roy
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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CONSTRUCTION OF LYAPUNOV

FUNCTIONS
M. Sami Fadali
EBME Dept., UNR
Outline
TheVariableGradient.
Krasovskiis Method.
PhysicallyMotivatedLyapunovFunctions
Examples
2
TheVariableGradient
AssumethatthegradientoftheLyapunovfunctionI x is
knownuptosomeparameters.
7I x = 7I
1
7I
n
1
=
oI
ox
1

oI
ox
n
1
7I

= b
]
x
]
n
]=1
, i = 1, , n
Curlconditions:

2
v
x
i
x
]
=
vv
i
x
]
=
vv
]
x
i
I x = _ 7I x Jx
x

Integralindependentofintegrationpath:choosesimplest.
3
Procedure
Writethegradientintheform
1 n
1
] ]
n
]=1
Usingthecurlconditions,simplifythe
coefficients
]
Obtain thenintegrateittoobtain .
Choose
]
sothatthat is
positivedefiniteand isnegativedefinite..
4
Example
1 1
2 2 1 2
2
1 2
1
11 1 12 2 21 1 22 2
1
2
2
1
1
11
2
12 2
12
2
21 1
21
1
2
22
1
5
Calculate
Simplification
h
ik
x
]
12 21

1 2
1
11 1 22 2
11 1 22 2
1
2 1 2
2
11 1
2
22 1 2 2
2
6
Integration
1 1 1
x
1
0
2 1 2 2
x
2
0
11 1 1
x
1
0
22 2 2
x
2
0
11 1
2
22 2
2
7
Check and
Let
11 22
1
2
2
2
11 1
2
22 1 2 2
2
1
2
1 2 2
2

12
c
asymptoticallystable.
8
Krasovskiis GeneralizedMethod
c
Lyapunovfunction.
1
Sufficientconditionforasymptoticstability
1
=neighborhoodof
Ifconditionholds
n
and radially
unbounded,wehaveglobalasymptoticstability.
Krasovkiis Theorem: ,abovemoregeneral.
9
Example
1 2 1 2 2
5 1
2
4
1
2
4
2
4
1
1 2
2
1 2 2
5
2
Positivedefiniteandradiallyunbounded.
c
globallyasymptoticallystable.
10
PhysicallyMotivatedFunctions
Usepropertiesofthephysicalsystemto
obtainasuitableLyapunovfunction.
Formechanicalsystem(e.g.pendulum):use
sumofkineticandpotentialenergy.
Forcircuits:usesumofelectrostaticand
magneticenergystored.
11
Example:NonlinearRLC
1 2
2
1
L
1 2 2 2 2
1
2
1
2
1
2
2
2
(pos.def.radiallyunbounded)
1 2
2
1 2
2 2
2 2 1
c
isgloballyasymptoticallystable.
12

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