Popov Funtion

Nonlinear Systems and Control
Lecture # 17
Circle & Popov Criteria
p. 1/2
Absolute Stability
r
+ u
-

6
G(s)
()
The system is absolutely stable if (when r = 0) the origin is

globally asymptotically stable for all memoryless
time-invariant nonlinearities in a given sector
p. 2/2
Circle Criterion
Suppose G(s) = C(sI
[0, ]
x
y
u
A)1 B + D is SPR and

= Ax + Bu
= Cx + Du
= (y)
By the KYP Lemma, P = P T > 0, L, W, > 0

P A + AT P = LT L P
P B = C T LT W
W T W = D + DT
V (x) = 12 xT P x
p. 3/2
=
=
=
=
1 T
1 T
x
P
x
+
x P x
2
2
1 T
T
T
x
(P
A
+
A
P
)x
+
x
P Bu
2
12 xT LT Lx 12 xT P x + xT (C T
12 xT LT Lx 12 xT P x + (Cx +
T
T T
LT W )u
Du)T u
u Du x L W u
uT Du = 21 uT (D + D T )u = 12 uT W T W u
V = 12 xT P x
1
(Lx
2
y T (y) 0
+ W u)T (Lx + W u) y T (y)
V 12 xT P x
The origin is globally exponentially stable
p. 4/2
What if [K1 , ]?
+f
- G(s)
+f +f G(s)
6
6
K1
()
+
f
()
6
K1
()
[0, ]; hence the origin is globally exponentially stable
if G(s)[I + K1 G(s)]1 is SPR
p. 5/2
What if [K1 , K2 ]?
+f
- G(s)
()
+f +f - K
G(s)
6
6
K1
+
f
()
6
K1
+ -?
f
+
1
+
f

+
6
()
[0, ]; hence the origin is globally exponentially stable
if I + KG(s)[I + K1 G(s)]1 is SPR
p. 6/2
I + KG(s)[I + K1 G(s)]1 = [I + K2 G(s)][I + K1 G(s)]1
Theorem (Circle Criterion): The system is absolutely stable

if
[K1 , ] and G(s)[I + K1 G(s)]1 is SPR, or
[K1 , K2 ] and [I + K2 G(s)][I + K1 G(s)]1 is SPR
Scalar Case: [, ], >

The system is absolutely stable if
1 + G(s)
is Hurwitz and
1 + G(s)
Re
1 + G(j)
1 + G(j)
> 0, [0, ]
p. 7/2
Case 1: > 0
By the Nyquist criterion
1 + G(s)
1 + G(s)
1
1 + G(s)
G(s)
1 + G(s)
is Hurwitz if the Nyquist plot of G(j) does not intersect the

point (1/) + j0 and encircles it m times in the
counterclockwise direction, where m is the number of poles
of G(s) in the open right-half complex plane
1 + G(j)
1 + G(j)
>0
+ G(j)
+ G(j)
>0
p. 8/2
Re
"1
+ G(j)
+ G(j)
> 0, [0, ]
D(,)
1/
1/
The system is absolutely stable if the Nyquist plot of G(j)

does not enter the disk D(, ) and encircles it m times in
the counterclockwise direction
p. 9/2
Case 2: = 0
1 + G(s)
Re[1 + G(j)] > 0, [0, ]
Re[G(j)] >
, [0, ]
The system is absolutely stable if G(s) is Hurwitz and the

Nyquist plot of G(j) lies to the right of the vertical line
defined by Re[s] = 1/
p. 10/2
Case 3: < 0 <

Re
1 + G(j)
1 + G(j)
> 0 Re
"1
+ G(j)
+ G(j)
<0
The Nyquist plot of G(j) must lie inside the disk D(, ).
The Nyquist plot cannot encircle the point (1/) + j0.
From the Nyquist criterion, G(s) must be Hurwitz
The system is absolutely stable if G(s) is Hurwitz and the
Nyquist plot of G(j) lies in the interior of the disk D(, )
p. 11/2
Example
G(s) =
4
(s + 1)( 12 s + 1)( 13 s + 1)
6
Im G
4
2
0
Re G
2
4
5
p. 12/2
Apply Case 3 with center (0, 0) and radius = 4

Sector is (0.25, 0.25)
Apply Case 3 with center (1.5, 0) and radius = 2.834
Sector is [0.227, 0.714]
Apply Case 2
The Nyquist plot is to the right of Re[s] = 0.857
Sector is [0, 1.166]
[0, 1.166] includes the saturation nonlinearity
p. 13/2
Example
G(s) =
4
(s 1)( 12 s + 1)( 13 s + 1)
Im G
0.4
0.2
G is not Hurwitz
0
Re G
0.2
0.4
4
Apply Case 1
Center = (3.2, 0), Radius = 0.168 [0.2969, 0.3298]
p. 14/2
Popov Criterion
+f G(s)
()
x = Ax + Bu
y = Cx
ui = i (yi ), 1 i p
i [0, ki ],
1 i p,
(0 < ki )
G(s) = C(sI A)1 B

= diag(1 , . . . , p ),
M = diag(1/k1 , , 1/kp )
p. 15/2
+
- i
6
- G(s)
()
M
- (I + s)
1
(I + s)
+
i
- ?
+
+
i

+6
1
H
-
2
H
1 and H
2 are passive
Show that H
p. 16/2
M + (I + s)G(s)
= M + (I + s)C(sI A)1 B
= M + C(sI A)1 B + Cs(sI A)1 B
= M + C(sI A)1 B + C(sI A + A)(sI A)1 B
= (C + CA)(sI A)1 B + M + CB
1 is strictly passive
If M + (I + s)G(s) is SPR, then H
with the storage function V1 = 12 xT P x, where P is given by
the KYP equations
P A + AT P = LT L P
P B = (C + CA)T LT W
W T W = 2M + CB + B T C T
p. 17/2
2 consists of p decoupled components:

H
i z i = zi +
1
ki
i (zi ) + e2i ,
V2i = i
V 2i
y2i = i (zi )
zi
i () d
0
h
= i i (zi )z i = i (zi ) zi +
= y2i e2i +
1
ki i (zi ) [i (zi )
1
ki i (zi )
ki z i ]
+ e2i
i [0, ki ] i (i ki zi ) 0 V 2i y2i e2i
2 is passive with the storage function

H
R zi
Pp
V2 = i=1 i 0 i () d
p. 18/2
V = 21 xT P x +
Use
p
X
i=1
yi
i () d
0
as a Lyapunov function candidate for the original feedback

connection
x = Ax + Bu,
V
=
=
y = Cx,
u = (y)
1 T
1 T
T (y)y
x
P
x
+
x
P
x
+
2
2
1 T
T P )x + xT P Bu
x
(P
A
+
A
2
+ T (y)C(Ax + Bu)
= 12 xT LT Lx 12 xT P x
+ xT (C T + AT C T LT W )u
+ T (y)CAx + T (y)CBu
p. 19/2
= 21 xT P x 12 (Lx + W u)T (Lx + W u)

(y)T [y M (y)]
12 xT P x (y)T [y M (y)]
i [0, ki ] (y)T [yM (y)] 0 V 21 xT P x
The origin is globally asymptotically stable

Popov Criterion: The system is absolutely stable if, for
1 i p, i [0, ki ] and there exists a constant i 0,
with (1 + k i ) 6= 0 for every eigenvalue k of A, such that
M + (I + s)G(s) is strictly positive real
p. 20/2
Scalar case
1
+ (1 + s)G(s)
k
is SPR if G(s) is Hurwitz and
1
k
+ Re[G(j)] Im[G(j)] > 0, [0, )
If
lim
1
k
+ Re[G(j)] Im[G(j)]
=0
we also need

2 1
+ Re[G(j)] Im[G(j)] > 0
lim
p. 21/2
1
k
+ Re[G(j)] Im[G(j)] > 0, [0, )
slope = 1/
Im[G(j)]
Re[G(j)]
1/k
Popov Plot
p. 22/2
Example
x 1 = x2 ,
x 2 = x2 h(y),
x 2 = x1 x2 h(y) + x1 ,
G(s) =
1
s2
+s+
and
lim
2 + 2
2 )2
(k = > 0)
> 0, [0, )
2 ( 2 + 2 )
(
2 )2
>0
(y) = h(y) y
h [, ] [0, k]
>1
y = x1
=1>0
p. 23/2
The system is absolutely stable for [0, ] (h [, ])

Im G
0.2
slope=1
0
Re G
0.2
0.4
0.6
0.8
1
0.5
0.5
Compare with the circle criterion ( = 0)

1
k
( 2 )2 + 2
> 0, [0, ], for k < 1 + 2
p. 24/2

Popov Funtion

Uploaded by

Copyright:

Available Formats

Popov Funtion

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Popov Funtion

Uploaded by

Copyright:

Available Formats

Nonlinear Systems and Control

The system is absolutely stable if (when r = 0) the origin is

A)1 B + D is SPR and

By the KYP Lemma, P = P T > 0, L, W, > 0

+ W u)T (Lx + W u) y T (y)

The origin is globally exponentially stable

[0, ]; hence the origin is globally exponentially stable

if G(s)[I + K1 G(s)]1 is SPR

[0, ]; hence the origin is globally exponentially stable

if I + KG(s)[I + K1 G(s)]1 is SPR

I + KG(s)[I + K1 G(s)]1 = [I + K2 G(s)][I + K1 G(s)]1

Theorem (Circle Criterion): The system is absolutely stable

[K1 , K2 ] and [I + K2 G(s)][I + K1 G(s)]1 is SPR

Scalar Case: [, ], >

is Hurwitz if the Nyquist plot of G(j) does not intersect the

The system is absolutely stable if the Nyquist plot of G(j)

The system is absolutely stable if G(s) is Hurwitz and the

Case 3: < 0 <

Apply Case 3 with center (0, 0) and radius = 4

Center = (3.2, 0), Radius = 0.168 [0.2969, 0.3298]

G(s) = C(sI A)1 B

= M + C(sI A)1 B + Cs(sI A)1 B

= M + C(sI A)1 B + C(sI A + A)(sI A)1 B

2 consists of p decoupled components:

i [0, ki ] i (i ki zi ) 0 V 2i y2i e2i

2 is passive with the storage function

as a Lyapunov function candidate for the original feedback

= 21 xT P x 12 (Lx + W u)T (Lx + W u)

i [0, ki ] (y)T [yM (y)] 0 V 21 xT P x

The origin is globally asymptotically stable

+ Re[G(j)] Im[G(j)] > 0, [0, )

+ Re[G(j)] Im[G(j)] > 0, [0, )

The system is absolutely stable for [0, ] (h [, ])

Compare with the circle criterion ( = 0)

> 0, [0, ], for k < 1 + 2

You might also like