Modern Control Theory 9-16 Liapunov's Stability Analysis For system to be asymptotically stable Q must be negative definite i.e. - Q must be positive definite _ fe 2 176 2 “Q=-|, =2=6x3 | [-2 2+ 6x3 Using Sylvester's criterion, 6 > 0 and 12 + 36 x} ~ 4 > Oi.e. 12 (1 + 3x3) > 4 then the equilibrium state x = 0 is asymptotically stable in the large. ‘im Example 9.5 : Investigate the stability of the following non-linerar system using direct method of Liaupnav. os] ‘ 2 OAT (TU: July ‘Aug. 2005, Jan/Feb -2005) Solution : Given that x =X, %) = — X; - x3 x» Let the Liapunov function be, V = x} + x3 V = 2x x t2xQ—% f 2 xy q+ 2Q Gy - x7 xy) 2, Ny — Ixy Xp - 2x? XZ 22 2x2 x3 It can be seen that V <0 for all non-zero values of x, and x;. Hence the function is negative definite. Therefore the origin of the system is asymptotically stable in large. mm Example 9.6 : A second order system is represented by : 01 te areiea[? 4] Assuming matrix Q to be identity matrix, solve for matrix P in the equation ATP + PA = ~ Q. Use Liapunov theorem anc determine the stability of the origin of the system. Write the Liapunov function V(x). (VTU: July/Aug.-2005, Jan/Feb-2007) a= [a a) af 3] _ [Pu Pe] gif! & ta rain rok eb a]Modern Control Theory Consider Ir “T)[Pu 1 =U LP Piz ~P2 pe + Px, | |e Pir~Pi2P12 P22} "P22 9-47 Liapunov's Stability Analysis A'P+PA = -Q Prif® W__ fa oO Po f{-l -j> Lo a Pu-Piz |e ‘| Pi~Px} [0-1 [pe Pai [ ~pr2 Pu -Pi2 P22 i] Pu-Pi2-P22-2(P12~P22) vl -2Pp ppett/2 Pu-P2-Pn = 0 * Pum Pa = Pr = 5 1 2(P2- Py) = -1 “Pa Pa =z + P is positive definite. Hence the equilibrium state at origin is asymptotically stable in the large. The Liapunov's function is V(x) Vo) 3h 22 BS = xX Px=[y yl ' 1, ba 2 = Bayete bxyex |] = pitas ah |] 32,1 1 = ddehagy shee odModern Control Theory 9-18 Liapunov's Stability Analysis Lia = 3 (xj +2e)xp +29) Imp Example 9.7 : A system is described by the following equation : (VTU: Jan/Feb.- 2008) + 1-2 Saeere Af a Assuming matrix Q to be the identify matrix, solve for matrix P and comment on the stability of the system using the equation AT P + PA =-Q. Solution : To check the stability of the system described by equation x= Ax, We will solve the equation, ATP+PA =-Q where for any symmetric, positive definite matrix Q, there exists a symmetric, positive definite matrix Q, there exists a symmetric positive definite matrix P. We can find out matrix P for any arbitrary choice of positive, definite, real symmetric matrix Q. Let us select Q = 1, where | is Identity matrix. ATP+PA =-O Let Pe (Fm | Pa Pa az(2 2) ate? [1 aye 24 [2 ‘dl Pu Pi], [Pu Piz (r ae ‘I 2-4} [pa p2l* lpn p2tl1 -a]"lo = [eee Pa Piz + Px }[Rt Pio Pa > ele ‘] -Pu~ 4P2 > 2Pi2 ~ 4P22 -Pat Pe ~~ 4px} LO -1 Py tPi2tP2 Piz -2Pu*P22] _[-} 0 Pi -5Pa1 + P22 ~2P12~2P21~8P2] 0 ~ But P is symmetric matrix -.p,» =P) : [sree ee 2p, “SP 2 +P } [o ‘J —Pi-SPi2+P2 P2-2P2 8p} LO pu tPiatPx = 2p -5Pi2 P22 = 0 2p12~2Pn-8Pp = A Solving these three equations using Cramer's rule