Chapter 4

1 Additional Exercises for Chapter 4 1.
For each of the following systems, use a quadratic Lyapunov function candidate to show that the origin is asymptotically stable. Then, investigate whether the origin is globally asymptotically stable. (1) x 1 = x1 + x2 2,
2 (2) x 1 = (x1 x2 )(x2 1 + x2 1),
x 2 = x2
2 x 2 = (x1 + x2 )(x2 1 + x2 1)
(3) x 1 = x1 + x2 1 x2 ,
x 2 = x2 + x1
2 2. Using V (x) = x2 1 + x2 , study stability of the origin of the system 2 2 2 2 x 1 = x1 (k 2 x2 1 x2 ) + x2 (x1 + x2 + k ), 2 2 2 2 x 2 = x1 (k 2 + x2 1 + x2 ) + x2 (k x1 x2 )
when
(a) k = 0 and
(b) k = 0.
3. Using the variable gradient method, nd a Lyapunov function V (x) that shows asymptotic stability of the origin of the system x 1 = x2 , x 2 = (x1 + x2 ) sin(x1 + x2 ) 4. Consider the system x 1 = x2 , x 2 = x1 sat(2x1 + x2 ) Show that the origin is asymptotically stable, but not globally asymptotically stable. 5. Show that the origin of the following system is unstable. x 1 = 6. Consider the system
m
x1 + x6 2,
6 x 2 = x3 2 + x1
z =
i=1
ai yi ,
y i = h(z, y )yi + bi g (z ),
i = 1 , 2, . . . , m
where z is a scalar, y T = (y1 , . . . , ym ). The functions h(, ) and g () are continuously dierentiable for z all (z, y ) and satisfy zg (z ) > 0, z = 0, h(z, y ) > 0, (z, y ) = 0, and 0 g ( ) d as |z | . The constants ai and bi satisfy bi = 0 and ai /bi > 0, i = 1, 2, . . . , m. Show that the origin is an equilibrium point, and investigate its stability using a Lyapunov function candidate of the form
z m
V (z, y ) =
0
g ( ) d +
i=1
2 i yi
7. Consider the system x 1 = x2 ,

2 x 2 = x1 x2 sat(x2 2 x3 ), 2 x 3 = x3 sat(x2 2 x3 )
where sat() is the saturation function. Show that the origin is the unique equilibrium point, and use V (x) = xT x to show that it is globally asymptotically stable. 8. The origin x = 0 is an equilibrium point of the system x 1 = kh(x)x1 + x2 , x 2 = h(x)x2 x3 1 investigate stability of the origin in each of x R2 ; x D; x R2 .
1 2 4 Let D = {x R2 | x 2 < 1}. Using V (x) = 1 4 x1 + 2 x2 , the following cases. (1) k > 0, h(x) > 0, x D; (2) k > 0, h(x) > 0, (3) k > 0, h(x) < 0, x D; (4) k > 0, h(x) = 0, (5) k = 0, h(x) > 0, x D; (6) k = 0, h(x) > 0,
2 9. Consider the system x 1 = x1 + g (x3 ), x 2 = g (x3 ), x 3 = ax1 + bx2 cg (x3 ) where a, b, and c are positive constants and g () is a locally Lipschitz function that satises g (0) = 0 and yg (y ) > 0, 0 < |y | < k, k > 0 (a) Show that the origin is an isolated equilibrium point. x3 1 2 2 (b) With V (x) = 1 2 ax1 + 2 bx2 + 0 g (y ) dy as a Lyapunov function candidate, show that the origin is asymptotically stable. (c) Suppose yg (y ) > 0 y = 0. Is the origin globally asymptotically stable? 10. Consider the system x 1 = x2 , x 2 = a sin x1 kx1 dx2 cx3 ,
x1 0
x 3 = x3 + x2
2 2 sin y dy + kx2 1 + x2 + px3 with some
where all coecients are positive and k > a. Using V (x) = 2a p > 0, show that the origin is globally asymptotically stable. 11. Show that the system
1 x1 , x 2 = x1 2x2 , x 3 = x2 3x3 1 + x3 has a unique equilibrium point in the region xi 0, i = 1, 2, 3, and investigate stability of this point using linearization. x 1 = 12. For each of the following systems, use linearization to show that the origin is asymptotically stable. Then, show that the origin is globally asymptotically stable. (1) x 1 x 2 = x1 + x2 = (x1 + x2 ) sin x1 3x2 x 1 = x3 1 + (t)x2 , (2) x 1 x 2 = x3 1 + x2 = ax1 bx2 , a, b > 0
13. Consider the system
x 2 = (t)x1 x3 2
where (t) is a continuous, bounded function. Show that the origin is globally uniformly asymptotically stable. Is it exponentially stable? 14. Consider the system x 1 = x2 ,
x 2 = x1 (1 + b cos t)x2
Find b > 0 such that the origin is exponentially stable for all |b| < b . 15. Consider the system
2 x 1 = x2 g (t)x1 (x2 1 + x2 ), 2 x 2 = x1 g (t)x2 (x2 1 + x2 )
where g (t) is continuously dierentiable, bounded, and g (t) k > 0 for all t 0. Is the origin uniformly asymptotically stable? Is it exponentially stable? 16. Consider two systems represented by x = x =
n n n
f (x) h(x)f (x)
(1) (2)
where f : R R and h : R R are continuously dierentiable, f (0) = 0, and h(0) > 0. Show that the origin of (1) is exponentially stable if and only if the origin of (2) is exponentially stable. 17. Investigate input-to-state stability of the system
2 x 1 = (x1 x2 + u)(x2 1 + x2 1), 2 x 2 = (x1 + x2 + u)(x2 1 + x2 1)

Chapter 4

Uploaded by

Copyright:

Available Formats

Chapter 4

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

Chapter 4

Uploaded by

Copyright:

Available Formats

1 Additional Exercises for Chapter 4 1.

2 2. Using V (x) = x2 1 + x2 , study stability of the origin of the system 2 2 2 2 x 1 = x1 (k 2 x2 1 x2 ) + x2 (x1 + x2 + k ), 2 2 2 2 x 2 = x1 (k 2 + x2 1 + x2 ) + x2 (k x1 x2 )

7. Consider the system x 1 = x2 ,

13. Consider the system

f (x) h(x)f (x)

You might also like