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Chapter 4

The document contains 17 multi-part exercises involving analyzing stability of nonlinear dynamical systems using techniques like Lyapunov stability theory. The exercises involve showing asymptotic and global asymptotic stability of equilibrium points using quadratic and variable Lyapunov functions, investigating stability under different conditions, and studying input-to-state stability.

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Mustafa Kösem
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© Attribution Non-Commercial (BY-NC)
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Download as PDF, TXT or read online on Scribd
136 views

Chapter 4

The document contains 17 multi-part exercises involving analyzing stability of nonlinear dynamical systems using techniques like Lyapunov stability theory. The exercises involve showing asymptotic and global asymptotic stability of equilibrium points using quadratic and variable Lyapunov functions, investigating stability under different conditions, and studying input-to-state stability.

Uploaded by

Mustafa Kösem
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as PDF, TXT or read online on Scribd
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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)

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