) (Autonomous

. ) (non Autonomous
.

.

.
t0
.
) (uniformity
.

: .

a (t ) x
1+ x 2

x& =

x = 0 t
.

a (t ) x
) + b (t
1+ x 2

= &x

 b (t) 0
.


t0 .
: 0 t0 R > 0
r R t0

tt

x (t ) < R

x (t0 ) < r

.
:2 0 t0 :
( .
( r (t0 ) > 0 ) x (t0 ) < r (t0
t x (t ) 0 .
t0
.
: 0
) x (t0 .

t t0

) x (t ) x 0 e (t = t0

: 0 ) x (t0 t
x (t ) 0 .
: .

) x& (t ) = a (t ) x (t
2

x (t ) = x (t 0 ) exp a ( ) d
t

a(t) 0 t t0

t a ( ) d = +

T
t 0
a ( ) d

x +T

) (uniformity
) (t0
.
. .
t
t
.
:5 0 r 1
t0 )r = r (R

t > t0 .

) ( t 0 .

 :6 :
( .
(

B t0

R0

B t0 )(0

R0

.
t0

R1 R 2 0 < R 2 < R1 R 0 T R1 R 2
. t 0 x (t0 ) < R1

) t t 0 + T (R 1 , R 2 x (t ) < R 2

t0

B T

R1

B .

R2

:

.
.
: .

x
1+ t

x& =

1 + t0
) x (t0
1+ t

= ) x (t

t0 .

 : 3
.
:

R0

.
:



:7 ) V(x , t V(0,t) = 0
) V0 ( x

) t t0 V ( x , t ) V0 ( x

.
:
t .
:8 ) V(x , t
( V(0 , t) = 0
( ) ) Vl (x (
) t t 0 V ( x , t ) Vl ( x

: ) V(x , t

) (x

2
2
1 , x2

V ( x , t ) = 1+ Sin 2 t

 V(0 , t) = 0 .
1 Sin t 1

] (x ) = x12 + x22

[V

V ( x , t ) x12 + x 22

) VL (x ) 2 ( x12 + x22
) V (x , t ) 2 ( x12 + x 22

R +

1) (0) = 0

p >0

2) (p) > 0
3) .

: ) v(x , t ) (

1) V(0 , t) = 0
) || 2) V(x , t) ( || x

t 0 x

) B (

R0

) V(x , t ) (
t 0

) X B

R0

( .
6

) || V(x , t) ( || x
:
:
)|| (|| x
. .
) V0 ( x

) V ( x , t ) V0 ( x .

)( 1

)|| V(x, t) (|| x

) (p .
)(2

) V0 (x

inf

x R

= ) ( p

(0) = 0 . ) V0 ( x
0 ) (p p > 0 .

) (2 ) (1 .

.
: 0 ) V(x , t

)( 1

V(x , t) ( || x || ) > 0

)(2a

V& ( x , t ) 0

.
7

) || V(x , t) ( || x

)(3
0 .

) (1 ) (3 ) (2a

)< 0

)(2b

V&

.
2b 1 3

( lim
x

0 ) (global.
: .

) x&1 (t ) = x1 (t ) e2 t x 2 (t
) x&2 (t ) = x1 (t ) x 2 (t
.

 : ) V(x , t

V ( x , t ) = x12 + t + e 2 t x22
x12 + x22
x12 + 2 x22 .

) V& ( x , t ) = 2 x12 x1 x 2 + x 22 (1 + 2e 2t

V& 2 x12 x1 x2 + x22 = ( x1 x2 ) 2 x12 x22

& V 0 .


.
V & V
.
:

) g& (t
x
) g (t

= & x . ) g 2 (t

 ) g(t

t
.
2

t
) ) g 2 (t ) g 2 (t e 2

(.
n

1
t )n
2
( g 2 .

=2

2n

e r dr +

n =1

g 2 (r ) dr

.
) V(x, t .
x2

3 t g 2 (r ) dr

g (t ) 0
2

= ) V (x , t

) V(x , t x 2 ) V(x , t .
& V .

V& = x 2
& V

) g& (t
x
) g (t

= & x :

) g (t
) x (t0
) g (t0

= ) x (t

10

 ) g (t t t
.

&x& + 2 + e t x& + x = 0

:
) (0 , 0 .
:

x(0) = 2 x& (0 ) = 1
x (t) = 0 x& (t ) = 0.

x (t ) =1 + e t
x (t ) =1
.

LTI .
.

X& = A (t ) X
) A (t ) + AT (t .
V = x T x . V
& V
V& = x T x& + x& T x = x T ( A(t ) x ) + X T AT (t ) x
= x T ( A (t ) + AT (t )) x

11

) A (t ) + AT (t
.

A (t ) + AT (t )

>0

V& x T x < 0
x .

) A (t ) + AT (t .

Perturbed System

x& = (A1 + A2 (t )) x

Hurwitz A1
) A2 (t t A2 (t ) 0
.

< A2 (t ) dt

.
.
:

x& 1 = 5 + x 25 + x 38 x1

) x3

x& 2 = x 2 + 4 x 32
x& 3 = ( 2 + Sin t

.
:
.

x& 3 = ( 2 + Sin t ) x3
12

A2 (t ) = Sin t

A1 = 2

x&3 ( A1 + A2 (t ) ) x3

A1 A2 x3
x2 x1
.

Positive Linear Systems

.
Positive real
.
PR SPR
.

bm S m + bm 1 S m 1 + L + b0
S n + an 1 S n 1 + L + a1 S + a0

= ) R (s

n m n m .
.
) G(s ) (PR Re [s] > 0
Re{G (s)} 0.
) Strictly Positive Real (SPR > 0
) G(s .
) G(s s
) G(s .
1

s+

= ) G (s > 0 S + j

13

 + j
( + ) + j ( + )2 + 2
1

= ) G (s

) G(s 0 ) G(s
.
) G(s

= SPR .

: ) G(s SPR
(1

) G(s .

(2

) G(s j
0 Re [ G ( j ) ] > 0

SPR .
2 .
(a

) G(s .

(b

90 .

(c

) G(s) (relative degree

(d

) G(s .

SPR : .
S 1
S 2S + 1

= ) G 2 (s

S +1
S + S +1

= ) G 4 (s

S 1
S + 2S +1
2

= ) G 1 (s

1
S + S +1
2

= ) G 3 (s

14

1
S 1

1
S

= ) G 6 (s

= ) G 5 (s

) G(s ) (PR :
(1

) G(s

(2

) G(s j
.

(3

Re[G(j ) ] 0

)Kalman Yakubovich (KY

KY .
KY PR P
Q .

) KY PR (.

: KY .
PR
PR .
) G(s PR
(1 ) G(s (Re{s} ) S .
(2 Re {s} > 0 G (s ) + G T (s ) .
) G(s SPR ) G( > 0 PR.

Passivity formalism


.
15

 Passivity
.

.

:

d
) ( ) + ( = ) (
dt
u y y T u
.
) g (t Passive

) V& (t ) = y T u g (t

) V&2 (t ) = y 2T u 2 g 2 (t
) V&1 (t ) = y 1T u 1 g1 (t
u 1 y 2 y 1 u 2

d
) [ V1 (t ) + V2 (t ) ] = g 1 (t ) + g 2 (t
dt

V1 + V2 ) (

16

( 0 g 1 (t ) + g 2 (t ) t 0 V1 + V2

< 0 [ g 1 ( t ) + g 2 ( t ) ] dt

( g 1 + g 2 t

g 1 + g 2 .
( g 1 g 2 t
.
V1 + V2
g 1 + g 2
t V1 + V2 g 1 + g 2

g 1 (t ) + g 2 (t ) t
.
* V
g 0 Passive u y
) (Passive .
dissipative

0 g ( t ) dt > 0

y T ( t) u ( t) 0

:
.
:

17

x& + (t ) x = u
(t) 0

)y = G(x

d
h ( ) d = h ( x ) x& = y u (t ) h ( x ) x
dt
x

0 h ( ) d
x

(t ) h ( x ) dx 0

Passivity Passive .
dissipative ) (t ) (t
] ) [ x (t.

x& + x 3 = u
y = x Sin 2 x

dissipdive u y.

.
:

y T u = y 1T u 1 + y 2T u 2

= (y 1 + y 2 ) T u

18

y T u = y 1T (u 1 + y2 )= y 1T u 1 + y 1T u 2 = y 1T u 1 + u 2T y 2

y T u .

g = g1 + g 2

V =V 1 +V 2

:
g = gi

V = V i

Passive
.
V i g i
:
g = i g i
i

V = iV i
i

i i .

19

 Passivity
:
SISO (positive real) PR


Re [G ( j ) ] 0

) G (s Passive .

f 0 ,

) G ( j

Passive
SISO ) (PR Passive
) SPR ( j :
:
Re [G ( j ) ] > 0

dissipative
MIMO passivity dissipativity :
;

G ( j ) + G T ( j ) 0

; dissipative

G ( j ) + G T ( j ) > 0

passive

Kalman-Yakubovich

passivity .

20

 X& = AX
Q P
1
2

. AT P + PA = Q V = X T PX
1
2

. V& = XQX
.
Y = CX

X& = AX + BU

V .
1 T
X PX
2

= V

:
1
1
&V& = X& T PX + X T PX
2
2

1
1
1
1
V& = X T AT PX + X T PAX + U T B T PX + X T PBU
2
2
2
2

.
1
V& = X T PBU X T QX
2

Y = CX B C C = B T P
dissipative U Y ) . ( P T = P
)( KY
Passivity .

21

 P Q KY

- dissipative .
Passivity SPR
Passivity ) (
SPR

10S
4 S + 5S + 1
2

= ) G ( S

SPR ) ( ]) Re [G ( j
> 0 . SPR passivity

4 &x& + 5 x + x = 10u
&y = x

.
) G (s
dissipative SPR G(S) .
SPR :
1
(1 ) SPR H (s
) H (s

SPR

(2 ) H 1 (s ) SPR H 2 (s 1H 1 (s ) + 2 H 2 (s ) SPR
(3 ) H 1 (s ) SPR H 2 (s H (s ) SPR
) H 1 (s
) 1 + H 1 (s )H 2 (s

= ) H (s

22

 Absolute Stability

.

) G (S

) (.

) ( .
) x& = Ax b ( y
G (s ) = C (SI A ) 1

y = cT x

) (. ) (sector .

] [K 1 , K 2 K1
K2 y
K 2

) ( y
y

K1

) (

:
(0) = 0 (1

y ( y ) 0 (2 ) ( y .

- Aizerman

23

 K ] [K 1 , K 2 A BC T K )
( ) (.
) ( y K1 K2 .
popov

) G (S

) (.

( A
) Hurwitz( ] [ A , b
( ) (. ] [ 0, k
(
1

Re [ (1 + j )G ( j ) ] +

) ( o
popov .

popov :

.
.
) (. ) ( y y

24

 popov

) G ( j ) = G1 ( ) + jG 2 (

popov
1

G1 ( j ) G 2 ( ) +

) W ( j
) W ( j ) = x + jy = G1 ( ) + j G 2 (

y ) y x x (
1
) W ( j = 0
k

x y +

). (
) W ( j popov
.
popov
.
) G ( j
) (0, 1
popov ) W ( j

) (
:

S +3
S 2 + 7S +10

o ( y ) ky

) (.

25

 .
) . (
popov
j + 3
+ j 7 + 10
2

) ( 2 + 11
4 + 29 2 + 100

= G2

= )G ( j

4 2 + 30
4 + 29 2 + 100

= G1

popov
1
)( 4 + 29 2 + 100) > 0
k

( 4 2 + 30 + 2 ( 2 + 11) +

> 0 < o < k

Circle Criterion




) x& = Ax b ( y
y = cT x

( a A j P
j
( b ) (. ] [ k 1 , k 2 .
( c
26

 0 < k 1 < k 2 ) G ( j ) D ( k 1 , k 2
P
0 = k 1 < k 2 ) G ( j
1
K2

Re[ s] f

k 1 < 0 < k 2 ) G ( j ) D ( k 1 , k 2

k 1 < k 2 < 0 ) G ( j ) D ( k 1 , k 2

P
0

1

k

) D ( k 1 , k 2


: .
0 1
0
= &x
x +
1 1
1
y = ( 1 1) x
2 y

e
, y 1
y
) y (1 + e

(y ) = 1

) u = ( y

27

) ( y

: ) ( y y 0.9 y

k 1 = 0.9 , k 2 = 2

0.9

) G (s
y

G (s ) = C (SI A ) 1b
)(S + 1
S 2 + S +1

]) Im[G ( j

]) Re[G ( j

28