Scribd
Upload
37 views5 pages

Solution:: X X X X

The document provides solutions to two problems: 1) It analyzes the stability of a system using a Lyapunov function and determines the system is asymptotically stable. 2) It calculates the describing function of a hysteresis non-linearity with a 0.2 width hysteresis band.

Uploaded by

abced1248
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 DOCX, PDF, TXT or read online on Scribd
37 views5 pages

Solution:: X X X X

The document provides solutions to two problems: 1) It analyzes the stability of a system using a Lyapunov function and determines the system is asymptotically stable. 2) It calculates the describing function of a hysteresis non-linearity with a 0.2 width hysteresis band.

Uploaded by

abced1248
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 DOCX, PDF, TXT or read online on Scribd
You are on page 1/ 5

1.

1 a Liapunov function for the following function



.
1 1
.
2
2
1 1
2 2
X X
X
X
(
=
(


and comment on stability.
Solution:
For given system
1 1
2 2
A
(
=
(



Liapunov function is given as
T
A P PA Q + =
Considering Q to be identity matrix

1 0
0 1
q
(
=
(


And assuming P values as

11 12
12 13
P P
P
P P
(
=
(


Substituting A, P and Q values in Liapunov`s function

11 12 11 12
12 13 12 13
1 2 1 1 1 0
1 3 2 3 0 1
P P P P
P P P P
( ( ( ( (
+ =
( ( ( ( (




Solving the above equation, we get values of P matrix as

7 / 4 5/ 8
5/ 8 3/ 8
P
(
=
(


As ||>0 and P11 >0, P is positive definite
Hence the given system is asymptotically stable in large




1.2 Obtain the describing function of hysteresis type non-linearity by considering
width of hysteresis band is 0.2.
Solution:
From the graph, the output can be obtained as

0.1; 0
2
0.1;
2
3
0.1;
2
3
0.1; 2
2
0.1; 2 2
Y x t
X t
x t
X t
x t
t
e
t
e t |
t
t | e
t
e t |
t | e t
= < <
< <
+ < <
+ < <
< <


1 1 1
2
1
0
2
1
0
Y A sin B cos
1
sin
1
cos
t t
A Y td t
B Y td t
t
t
e e
e e
t
e e
t
= +
=
=
}
}


2 2
1 1 1
1 1
1
1
tan
Y A B
B
A
|

= +
| |
=
|
\ .

Calculation of A
1
and B
1
( ) ( )
1
0
2
0
2
2
sinsin
2
[ ( 0.1) sin 0.1 sin 0.1 sin
2
( 0.2) cos sin 2
2 2 2
A Y t d t
x td t X td t x td t
X X
X
t
t
t
t |
t
|
t
e e
t
e e e e e e
t
t
| | |
t t

=
= + + +
(
= + +
(

}
} } }



From figure X = X-0.2
Therefore,

( ) ( )
1
1
0
2
0
2
sin 2
2 2
2
cos
2
( 0.1) cos t X 0.1 cos t 0.1 cos t
(cos )
X X
A
B Y td t
x td td x td
X
t
t
t | t
t
t |
t
| |
t t
e e
t
e e e
t
|
t

(
= + +
(

=
(
(
= + + +
(
(
(

=
}
} } }

Describing function

( )
2 2
1
1
1
1
1
1
N
1
1
K X
A1 1
tan
Y B
Y
A
X
Y
X
B
|
|

= +
| |
=
|
\
=
=
.
Z


( )
( )
1
2
1
1
sinsin 2
2 2
cos
0.2
sin 1
X X
A
X
B
X
t
| |
t t
|
t
|

(
= + +
(

=
=





2.1 Consider the system
1 0 1 0
1 2 0 0
0 0 3 1
X X
( (
( (
= +
( (
( (


And output
| | 1 1 0 Y X =
Transform the system into
(a) Controllable canonical form
(b) Observable canonical form
Solution:
| |
1 0 1 0
1 2 0 0 1 1 0
0 0 3 1
A B C
( (
( (
= = =
( (
( (




(a) Transforming the system into controllable canonical form
The characteristic equation of A is | |=0

( )( )( )
1 0 1
1 2 0 0
0 0 3
S 1 S 2 S 3 0
S 1, 2, 3
S
SI A S
S
+ (
(
= + =
(
( +

+ + + =
=


The matrix of coefficients is,

2 3 1
3 1 0
1 0 0
Q
(
(
=
(
(




The controllability matrix of the system,

2
2
C B AB A B
1
0
3
4
1
9
AB
A B
(
=

(
(
=
(
(

(
(
=
(
(



0 1 4
0 0 1
1 3 9
C
(
(
=
(
(



The transformation matrix,


7 1 0
1 0 0
16 6 1
P CQ
P
=
(
(
=
(
(


=




The transformed system matrices,
1 1
A* P APB* P BC* CP

= = =

You might also like