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(4.1)
t to
(4.2)
x At x
(4.3)
xt R
t t0
(4.6)
xt 0 as t
xt 0 as t
Example 4.2A first-order linear timevarying system
Consider the first-order system
x (t ) a (t ) x(t )
Its solution is
t
x(t ) x(tO ) exp[ t a(r )dr ]
O
It is asymptotically stable if
O a(r )dr .
For instance,
The system
2
(
1
t
)
dt
x
/(
1
t
)
O
O t 1 dt ln( t 1)]O
The system x tx is exponentially stable.
1 2 t0 7 1
1 2
2
O t dt 2 t ]t0 2 (t0 T ) 2 t 0 .
Since
t t0
1
t0 1 sin x 2 (r ) dr 2
t
t 0 , V (x, t ) V1 (x)
In other words, a scalar function V(x, t) is
decrescent if it is dominated by a timeinvariant positive definite function.
f x, t
dt t x
t x
x1 (t ) x1 (t ) e x2 (t )
x2 (t ) x1 (t ) x2 (t )
To determine the stability of the equilibrium
point at 0, let us choose the following scalar
function
2
2t
2
V (x, t ) x1 (1 e ) x2
2
x
definite function 1
2 .Furthermore,
2
2
2t
V (x, t ) 2 x1 x1 x2 x2 (1 2e )
V 2( x1 x1 x2 x2 ) ( x1 x2 ) x1 x2
0 g (r )dr
2
1
e dr n 2
n 1 2
r
0
2
(
V
(
x
,
t
)
x
).
is positive definite
2
g
Figure 4.2The function (t )
( x x) b(t ) 2
V (x, t )
x
2
2
2
V c(t )x c(t ) 2k0 x 2
2
Thus, if there exist positive numbers and
such that
c(t ) 0 c(t ) 2k0
Then is negative definite. Assuming in addition
V
that c(t) is upper bounded (guaranteeing the
decrescence of V), the above conditions imply the
asymptotic convergence of the system.
is asymptotically stable.
(4.18)
x ( A1 A 2 (t )) x
(4.20)
where the matrix A1 is constant and Hurwitz (i.
e., has all its eigenvalues strictly in the left-half
plane), and the time-varying matrix A2(t) is such
that
A 2 (t ) 0 as t
and
T
0 A (t ) A(t )dt (i.e, the integral exists
and is finite)
Then the system is globally exponentially
stable.
A (t )
(4.22)
x x0
x At x
t tO
(4.26)
x2 2 x1 x2 ( x x )
(4.27)
2
1
4
2
2
1
4
2
1 2
V ( x1 x22 )
2
Its derivative is
2
2
2
4
V ( x1 x2 )( x1 x2 )
Because of the positive definiteness V and V
, the above theorem indicates the instability
of the system.
V (x, t ) V (x, t ) 0 t t0 x
with being a strictly positive constant,
then the equilibrium point 0 at time t0 is
unstable.
While
f (t ) cos(log t ) 0 as t
t
the function f(t) keeps oscillating (slower
and slower). The function f(t) may even be
unbounded, as with f (t ) t sin(log t ). Note
that functions of the form log t, sin t, e t ,
and combinations thereof, are quite easy to
find in dynamic system responses.
f converges f 0
t
2t
f
(
t
)
e
sin(
e
)
For instance, while that function
Tends to zero, its derivative f is unbounded.
Note that this is not linked to the frequent sing
changes of the function. Indeed, with
t
2
2t
f (t ) e sin (e ) 0, f is still unbounded.
V 2e(e w) 2(ew(t )) 2e 0
This implies that V(t) V(0), and therefore, that
e and are bounded. But the invariant set
theorems cannot be used to conclude the
convergence of e, because the dynamics is nonautonomous.
1
j
( ) j ( ) 2 2
Necessary conditions
h(p) is strictly stable
The Nyquist plot of h(j) lies entirely in the
right half complex plane. Equivalently, the
phase shift of the system in response to
sinusoidal inputs is always less that 90
h(p) has relative degree 0 or1
j 1
[ j 1][2 j 1]
h4 ( j)
2
j 1
[1 2 ]2 2
2 1 2
1
Re[h4 ( j)]
2 2
2
[1 ] [1 2 ]2 2
which shows that h4 is SPR (since it is also
strictly stable). Of course, condition (4.34)
can also be checked directly on a computer.
(4.35)
V1 (t ) y 1 u1 g1 (t )
(4.37)
V2 (t ) y 2 u 2 g 2 (t )
We then have
d
V1 (t ) V2 (t ) g1 (t ) g 2 (t )
dt
(4.38)
0 g1 (t ) g 2 (t ) dt
If in addition, the function g1 + g2 is
uniformly continuous, then
g1 (t ) g 2 (t ) as t .
In particular, if g1(t) and g2(t) are both nonnegative and uniformly continuous, then they
both tend to zero as t .
Note that an explicit expression of V1 + V2 is
not needed in the above result. More generally,
without any assumption on the sign V1 + V2 or
g1 + g2, we can state that
If V1 + V2 has a finite limit as t , and if g1
+ g2 is uniformly continuous, then
g1 (t ) g 2 (t ) 0 as t .
y (t )u1 (t )dt 0 g1 (t ) dt 0
T
1
g i gi
i
Letting
1 T
V x Px
2
yields
1 T
V x Qx
2
Consider now a linear system, strictly stable
in open-loop, in the standard form
x Ax Bu
y Cx
Absolute Stability
If the feedback path simply contains a constant
gain, i. e., if ( y ) y , then the stability of
the whole system, a linear feedback system,
can be simply determined by examining the
eigenvalues of the closed-loop system matrix
A bcT . However, the stability analysis of
the whole system with an arbitrary nonlinear
feedback function is much more difficult.
Popov's criterion
Several counter-examples show that this
conjecture is false. Popov's criterion imposes
additional conditions on the linear subsystem,
leading to a sufficient condition for
asymptotic stability reminiscent of Nyquist's
criterion (a necessary and sufficient condition)
in linear system analysis.
Total Stability
Consider the nonlinear system
x 2 x 3 x d (t )
3
(4.59)
(4.60)
(4.61)