Stabilization via Linearization Lecture Notes by B.

Yao

1
State Feedback Stabilization
Problem Formulation
Consider
( , ) x f x u =
(S1)

where ( , ) 0
e e
f x u = and ( , ) f x u is continuously differentiable. Want to design
a state feedback control law ( ) u x = to stabilize the system.

Design via Linearization
Linearize (S1):

, ,

e
e
x Ax Bu x x x
u u u
= + =
=

(S2)
where

( , ) ( , )
,
e e
e e
x x x x
u u u u
f x u f x u
A B
x u
= =
= =
c c
= =
c c
(S3)
Assuming that
( )
, A B is controllable or stabilizable, then, we can design a
state feedback u Kx = such that the resulting linear system is stable, i.e.,
A BK is Hurwitz. With this control law, the resulting actual closed-loop (CL)
system is:
( , ) ( , )
e e e
x x f x u Kx f x x u Kx = = = +

(S4)


Stabilization via Linearization Lecture Notes by B.Yao

2
Q: Is the origin of the actual CL system locally asymptotically stable?

A. Yes.
Since the linearization of (S4) at the origin has a system matrix of


0 0
( )
x x
f f
K A BK
x u
= =
c c
+ =
c c



which is Hurwitz. From Theorem 4.13, the origin is locally exponentially
stable.

Estimate of the Region of Attraction:

Let 0 P > be the solution of
( ) ( ) , 0
T
P A BK A BK P Q Q + = > (S5)

Then,
1
( )
2
T
V x x Px =
is a Lyapunov function for (S4) locally. Try to find a
region O such that 0, V x < eO

. Then, find the largest
M
c such that
{ : ( ) }
M
D x V x c = s c O
. D is an estimate of region of attraction.

Stabilization via Linearization Lecture Notes by B.Yao

3
Ex12.2 Inverted Pendulum:

2
1
sin , 0, 0, 0
g k
a b cT a b c
l m ml
u u u = + = > = > = >

(S8)
Want to stabilize the pendulum at an angle of
d
u u = .
Solution:
Equilibrium:
( ) ( )
0 sin 0 sin
d e e d
a
a b cT T
c
u u = + =
Linearize
1 2
( , , )
d e
x x T T u u u u = = = +

:
1 2
2 1 2
1 2
sin( )
cos( )
d e
d
x x
x a x bx cT cu
a x bx cu
u u
u
=
= = + + +
~ +

,
0 1 0
,
cos( )
d
A B
a b c u
( (
= =
( (




( )
1 2
1 2
0 1 0
[ ]
cos( )
0 1

cos
d
d
A BK k k
a b c
k c a k c b
u
u
( (
=
( (


(
=
(


is Hurwitz
( )
1
2
cos 0
0
d
k c a
k c b
u + >

+ >

Final Control Law:

( )
1 1 2 2
sin
d
a
T k x k x
c
u =