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HW 8

This summary provides the key points from the document in 3 sentences: The document discusses stability of nonlinear systems and equilibrium points. Various Lyapunov functions are proposed to analyze the stability of equilibrium points for different systems. Global asymptotic stability is proven for some systems by showing the Lyapunov functions are positive definite, negative semidefinite, and radially unbounded.

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salim
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57 views4 pages

HW 8

This summary provides the key points from the document in 3 sentences: The document discusses stability of nonlinear systems and equilibrium points. Various Lyapunov functions are proposed to analyze the stability of equilibrium points for different systems. Global asymptotic stability is proven for some systems by showing the Lyapunov functions are positive definite, negative semidefinite, and radially unbounded.

Uploaded by

salim
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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62 CHAPTER 4.

1
1
I

8 4.8 4
(a) V(0) = 0 and V(z) > 0 for z # 0: 4

(b) The slope of the tangents to the hyperbola is given by

On the other hand,

For zl > a
> slope of tangents
Moreover
-621 4
+ zl-fi=4+6Jh1+2$+42: >o
f l l h y p d m l r = ~ u2(z1 - f i )
Hence, the vector field on the branch of the hyperbola in the first quadrant always points to the right of t3U
hyperbola.
( c ) Since trajectories starting to the right of the hyperbola do not reach the origin, the origin is not g l o w
asymptotically stable.
4.S (a)
22
a =0 + V(Z) = -
1+ 2
- + Z: -+ m as 12.1 --t m

(b) On the line z2 = 21, we have

8 4.10 (a)

z~P~(+
z )P(Z)PZ = ZTP J'a Bf(q2)
82
2 + zT [ z ]
T
*Pz
DUX rms is a contradiction since
zTPf(z)
- -1 VzERn
11z11; 2'
Thus, as llzl12 -+ oo, the magnitude of at least one component of f (z) must approach oo. This shows that
V(z) -+ 00 as ))z1)2 -+ 00.

( c ) We have s h m that V(z) is positive definite and radially unbounded.

Since f (z) = 0 @ z = 0, ~ ( z<) 0, for all z E Rn, z # 0. Thus, the origin is globally asymptotically stable.
4.11 Since K(z) is not negative semidefinite, there exists a point zo arbitrarily close to the origin such
that Vl(zo) > 0. Let U = {z E Br ( Vl(z) > 0), where BT C D. Since %(z) is positive definite, we have
vl(z) > 0 for all z E U. Hence, the origin is unstable.
4.12 Since %(z)is not negative semidefinite, there exists a point zo arbitrarily close to the origin such
that Vl (20) > 0. Let U = {z E BT I Vl (z) > 0), where Br C D. Since W(z) 2 0 for all z E D, we have

Hence, the origin is unstable.

4.13 (1) Apply Chetaev's theorem with V(z) = (1/2)(< - 2;). The function V is positive at points
arbitrarily close to the origin on the 2 1 - ~ s .

For any 0 < c < 1, there is a domain around the origin where

Hence, in this domain, we have


V(z) 2 (2; + 21~ 2 + a;
) ~
CHAPTER 4.

1- X2

0.8 -
0.6 -

0.4 -

0.2-
, 0-
0 0.5 1

Figure 4.1: Exercise 4.13 (2).

The right-hand side of the preceding inequality is positive definite; hence all the conditions of Chetaev's
theorem are satisfied and the equilibrium point a t the origin is unstable.
(2) The system
3
il =-zl+z2= fl(2), i 2 = 2 f - 2; = f2(2)

has two equilibrium points at (0,O) and (1,l). The set r = (0 5 zl 5 1)n {z21 2:) n {z25 2:) is shown
in Figure 4.1. On the boundary 2 2 = z:, f2 = 0 and fl > 0; hence, all trajectories on this boundary move
into r. On the boundary 2 2 = z:, f l = 0 and fi > 0; hence, all trajectories on this boundary move into
r. Thus, r is positively invariant. Inside I', both fl and f2 are positive. Thus all trajectories move toward
the equilibrium point (1,l). Since this happens for trajectories starting arbitrarily close to the origin, we
conclude that the origin is unstable.
zl (t)+ z2(t) 0 =$ - -
il(t)+ i2(t) 0 =$ z2(t) 0 =$ 21 =
(t) 0
Since V(z) is radially unbounded and all the assumptions hold globally, we conclude that the origin is
globally asymptotically stable.

a 4.15 (a) The equilibrium points are the roots of the equations

Hence, there is a unique equilibrium point at the origin.


>
(b) V(z)is the sum of nonnegative terms; hence V(z) 0. To show that it is positive definite for all x,
we need to show that V(z)= 0 z = 0. Since yh,(y)> 0 for all y # 0, the integrals j:' hl(y) dy and
J,'a h2(Y)dy vanish only at zl = 0 and 2 3 = 0, respectively. Hence, V(z)is positive definite.
(c)
v = hi (Z)Zz+ zz[-hl(zl)- 22 - h2(23)]+ h2(~3)(~2
- 23) = -2; - 23 h2 (23)
~ ( zis)negative semidefinite for all z,but not negative definite because ~ ( z=)0 when z2 = z3 = 0 for any
zl.We apply the invariance principle.
z2(t) 0 and z3(t)E 0 a hl(Z1(t)) 0 = 21 (t) 0

Hence, the origin is asymptotically stable.


(d) To show global asymptotic stability we need V(z)to be radially unbounded. This will be the case if the
integrals j: hj(9) dy,i = 1,2,tend to infinity as JzJ+ oo.

a 4.16 +
'Let V(z)= (1/4)z: (1/2)2,2.

~ ( zis)negative semidefinite for all z.

By the invariance principle, the origin is globally asymptotically stable.

At equilibrium,
z2 = 0 & g(z1)+ h(z1)z2= 0 =$ 2 2 = 0 & g(21)= 0
Assume that g(zl)= 0 has an isolated root at the origin. Then, the origin is an isolated equilibrium point.

(b)With V(z)= j:' g(y) dy + $z;,we have

Assume that h(z1)> 0 V zr E D (a domain that contains the origin). Then, v 5 0 and
v 0 =$ h(zl(t))z;(t)r 0 =$ =
z2(t) 0 =$ g(z1(t))= 0 =+ zl (t)E 0

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