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Vandv: 1 The Relation Between

This document summarizes key concepts regarding stability conditions for control systems and class KL functions. It discusses that for exponential stability, the time derivative of V must be less than or equal to a negative constant times V. It also clarifies that the function f(r,s)=rce^-s is a valid class KL function, as it is increasing in r and decreasing in s, even for values of r between 0 and 1. Through examples, it shows that f(r,s) increases as r increases, satisfying the requirements of a class KL function.

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44 views2 pages

Vandv: 1 The Relation Between

This document summarizes key concepts regarding stability conditions for control systems and class KL functions. It discusses that for exponential stability, the time derivative of V must be less than or equal to a negative constant times V. It also clarifies that the function f(r,s)=rce^-s is a valid class KL function, as it is increasing in r and decreasing in s, even for values of r between 0 and 1. Through examples, it shows that f(r,s) increases as r increases, satisfying the requirements of a class KL function.

Uploaded by

kapilkumar18
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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EE 650 - Basics of Modern Control Systems

This is for the confusion that aroused in lecture held on November 08, 2014 (Saturday).

1 The relation between V and V


For exponential stability we have the following conditions imposed on V (t, x)
k1 kxka V (t, x) k2 kxka
V k3 kxka

(1)
(2)

where k1 , k2 , k3 and a are positive constants. From (2) we have


V k3 kxka
V k3 kxka [ multiplying (-1) on both sides flips the inequality]
V
kxka [ divide by positive constant k3 on both sides]

k3
k2 V

k2 kxka [ multiply by positive constant k2 on both sides]


k3
From (1) we have
V k2 kxka .
Hence, we have
k2 V
k2 kxka V
k3
k2 V

V
k3
k3
k3
V V [ multiply both sides by ]
k2
k2
k
3
V V [ multiply both sides by 1]
k2

So

k3
V V.
k2

2 f (r, s) = rces is a class KL function


Towards the end of the class it was pointed out in a discussion that r c may not be increasing if
0 r < 1 for c > 0. It is not true.
f
Fix s.
= cr c1es > 0. So f (r, s) is a strictly increasing function in r. It is infact a class
r
K function in r.
1

f
= r c es < 0. So f (r, s) is decreasing in s. Hence, f (r, s) = r c es is a class KL
Fix r.
s
function.
Since the doubt was raised for 0 r < 1 lets see a few cases.
Let c = 2, s = 0. This is a simple case. When r = 0.01, f (r, s) = 0.0001 and when r = 0.1,
f (r, s) = 0.01. So r has increased and so has the value of f (r, s). Now let c = 0.5, s = 0.
When r = 0.0001, f (r, s) = 0.01 and when r = 0.01, f (r, s) = 0.1. Again as r increased,
f (r, s) also increased.

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