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RAMANE Negativa) Folosind Urmtorul Cod Aratam Functia Lyapunov: (

The document discusses using MATLAB code to graphically represent Lyapunov functions and trajectories over time. Specifically, it contains: 1) Code to plot level sets of a Lyapunov function V and show that its derivative dV is negative within a region, demonstrating stability. 2) Code using ode23 to simulate trajectories over time for different initial conditions, and plot the values of V(t) and E(t) = xTx for each trajectory on the same axes for comparison. 3) The Lyapunov function used is V(t)=xTPx and the total energy is E(t)=xTx, with P being a constant matrix. Six different initial conditions are

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Gabriela Ivan
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17 views8 pages

RAMANE Negativa) Folosind Urmtorul Cod Aratam Functia Lyapunov: (

The document discusses using MATLAB code to graphically represent Lyapunov functions and trajectories over time. Specifically, it contains: 1) Code to plot level sets of a Lyapunov function V and show that its derivative dV is negative within a region, demonstrating stability. 2) Code using ode23 to simulate trajectories over time for different initial conditions, and plot the values of V(t) and E(t) = xTx for each trajectory on the same axes for comparison. 3) The Lyapunov function used is V(t)=xTPx and the total energy is E(t)=xTx, with P being a constant matrix. Six different initial conditions are

Uploaded by

Gabriela Ivan
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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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Download as DOCX, PDF, TXT or read online on Scribd
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TEMA1

-Metoda grafica (domeniul pe care derivata functiei Lyapunov


RAMANE negativa)
Folosind urmtorul cod aratam functia Lyapunov:
(Funcia contour Matlab arat seturile de nivel al Funcia Lyapunov )
[x1,x2]=meshgrid(-60:5:60, -60:5:60)
v=12.*x1.^2+24.*x1.*x2+25.*x2.^2;
subplot(1, 2, 1); mesh(x1,x2,v)
subplot(1, 2, 2); [c, h] = contour(x1,x2,v); clabel(c,h);
colorbar

dac vom folosi urmtorul cod Matlab :


-dV pt x1, x2 apartine [-30; 50]
[x1,x2]=meshgrid(-30:5:50, -30:5:50)
dv=-24.*x1.^2-26.*x2.^2-24.*x1.*x2+(24./53).*x1.*x2.^2+(24./53).*x2.*x1.^2+(24./53).*x2.^3+(24./53).*x1.*x2.^2+(24./47).*x2.*x1.^2+(50./47).*
x1.*x2.^2
subplot(1, 2, 1); mesh(x1,x2,-dv)
subplot(1, 2, 2); [c, h] = contour(x1,x2,-dv); clabel(c,h);
colorbar
(dV<0)

-dV pt x1, x2 apartine [-30; 49]


[x1,x2]=meshgrid(-30:5:49, -30:5:49)
dv=-24.*x1.^2-26.*x2.^2-24.*x1.*x2+(24./53).*x1.*x2.^2+(24./53).*x2.*x1.^2+(24./53).*x2.^3+(24./53).*x1.*x2.^2+(24./47).*x2.*x1.^2+(50./47).*
x1.*x2.^2
subplot(1, 2, 1); mesh(x1,x2,-dv)
subplot(1, 2, 2); [c, h] = contour(x1,x2,-dv);
clabel(c,h);colorbar
(dV>0)

Tema 2 Reprezentati grafic functiile V(t)=xTPx ( plot(t,V(t)) ) si


E(t)=xTx.
-V in timp
[t,x]=ode23('f3',[0,60],
for i=1:length(t)
V=[V x(i,:)*P*x(i,:)'];
end ,plot(t,V,'b'), hold
[t,x]=ode23('f3',[0,60],
for i=1:length(t)
V=[V x(i,:)*P*x(i,:)'];
end ,plot(t,V,'m')
[t,x]=ode23('f3',[0,60],
for i=1:length(t)
V=[V x(i,:)*P*x(i,:)'];
end ,plot(t,V,'r')
[t,x]=ode23('f3',[0,60],
for i=1:length(t)
V=[V x(i,:)*P*x(i,:)'];
end ,plot(t,V,'c')
[t,x]=ode23('f3',[0,60],
for i=1:length(t)
V=[V x(i,:)*P*x(i,:)'];
end ,plot(t,V,'g')
[t,x]=ode23('f3',[0,60],
for i=1:length(t)
V=[V x(i,:)*P*x(i,:)'];
end ,plot(t,V,'k')
[t,x]=ode23('f3',[0,60],
for i=1:length(t)
V=[V x(i,:)*P*x(i,:)'];
end ,plot(t,V,'k')

[70,46.9]),P=[12 12; 12 25]; V=[];


on
[50,53]),P=[12 12; 12 25]; V=[];

[48,47.3]),P=[12 12; 12 25]; V=[];

[47.5,47.9]),P=[12 12; 12 25]; V=[];

[46.5,48.9]),P=[12 12; 12 25]; V=[];

[46,46.9]),P=[12 12; 12 25]; V=[];

[44,45.9]),P=[12 12; 12 25]; V=[];

-E in timp
[t,x]=ode23('f3',[0,60],
for i=1:length(t)
E=[E x(i,:)*x(i,:)'];
end ,plot(t,E,'b'), hold
[t,x]=ode23('f3',[0,60],
for i=1:length(t)
E=[E x(i,:)*x(i,:)'];
end ,plot(t,E,'m')
[t,x]=ode23('f3',[0,60],
for i=1:length(t)
E=[E x(i,:)*x(i,:)'];
end ,plot(t,E,'r')
[t,x]=ode23('f3',[0,60],
for i=1:length(t)
E=[E x(i,:)*x(i,:)'];
end ,plot(t,E,'c')
[t,x]=ode23('f3',[0,60],
for i=1:length(t)
E=[E x(i,:)*x(i,:)'];
end ,plot(t,E,'g')
[t,x]=ode23('f3',[0,60],

[70,46.9]),P=[12 12; 12 25]; E=[];


on
[50,53]),P=[12 12; 12 25]; E=[];

[48,47.3]),P=[12 12; 12 25]; E=[];

[47.5,47.9]),P=[12 12; 12 25]; E=[];

[46.5,48.9]),P=[12 12; 12 25]; E=[];

[46,46.9]),P=[12 12; 12 25]; E=[];

for i=1:length(t)
E=[E x(i,:)*x(i,:)'];
end ,plot(t,E,'k')
[t,x]=ode23('f3',[0,60], [44,45.9]),P=[12 12; 12 25]; E=[];
for i=1:length(t)
E=[E x(i,:)*x(i,:)'];
end ,plot(t,E,'k')

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