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Lecture # 6
Passivity
and
Input-Output Stability
(a)
(b)
Passive
Passive
y = h(t, u),
u
(c)
Not passive
h [0, ]
hT =
h1 , h2 , , hp
Definition 5.1
y = h(t, u) is
passive if uT y 0
lossless if uT y = 0
input strictly passive if uT y uT (u) for some function
where uT (u) > 0, u 6= 0
output strictly passive if uT y y T (y) for some function
where y T (y) > 0, y 6= 0
y= u
y
y
y=u
u
u
y=u
(a)
>0
(b)
<0
Also, h (, ], h [, ), h (, )
Nonlinear Control Lecture # 6 Passivity and Input-Output Stability
K 1
y = h(t, u)
[K1 , K2 ]
K1
Feedback
Feedforward
K 1
[0, I]
[0, ]
[0, K]
y = h(x, u)
Example 5.2
x = u,
y=x
V (x) = 12 x2 uy = V
x = u,
y = x + h(u),
Lossless
h [0, ]
y = x,
h [0, ]
Example 5.3
x = u,
V (x) =
V (x) = a
h [0, ]
ax = x + u,
Z
y = h(x),
y = h(x),
h [0, ]
Example 5.4
x 1 = x2 ,
x 2 = h(x1 ) ax2 + u,
h [1 , ],
V (x) =
=
x1
Z0 x1
0
a > 0,
b > 0,
y = bx2 + u
1 > 0
h() d + 21 xT P x
h() d + 21 (p11 x21 + 2p12 x1 x2 + p22 x22 )
> 0,
p11 > 0,
uy V
Strictly passive
Lemma 5.1
An m m proper rational transfer function matrix G(s) is
strictly positive real if and only if
G(s) is Hurwitz
G(j) + GT (j) > 0, R
G() + GT () > 0 or
lim 2(mq) det[G(j) + GT (j)] > 0
Lemma 5.4
The linear time-invariant minimal realization
x = Ax + Bu,
y = Cx + Du
with
G(s) = C(sI A)1 B + D
is
passive if G(s) is positive real
strictly passive if G(s) is strictly positive real
Proof
Apply the PR and KYP Lemmas, respectively, and use
V (x) = 12 xT P x as the storage function
Nonlinear Control Lecture # 6 Passivity and Input-Output Stability
y = h(x, u)
V
f (x, u)
x
V
f (x, 0) 0
x
Lemma 5.6
If the system
x = f (x, u),
y = h(x, u)
V
f (x, u) + (x)
x
V
f (x, 0) (x)
x
Definition 5.5
The system
x = f (x, u),
y = h(x, u)
y = Cx
Lemma 5.6
If the system
x = f (x, u),
y = h(x, u)
V
f (x, u) + y T (y)
x
V
f (x, 0) y T (y)
x
Example 5.8
x 1 = x2 , x 2 = ax31 kx2 + u, y = x2 , a, k > 0
V (x) = 41 ax41 + 12 x22
V = ax31 x2 + x2 (ax31 kx2 + u) = ky 2 + yu
The system is output strictly passive
y(t) 0 x2 (t) 0 ax31 (t) 0 x1 (t) 0
The system is zero-state observable. V is radially unbounded.
Hence, the origin of the unforced system is globally
asymptotically stable
Nonlinear Control Lecture # 6 Passivity and Input-Output Stability
L Stability
Input-Output Models:
y = Hu
Lp spaces:
L : kukL = sup ku(t)k <
t0
L2 : kukL2 =
Lp : kukLp =
Lm
p :
Z
sZ
uT (t)u(t) dt <
1/p
ku(t)k dt
< , 1 p <
p
Notation
p is the type of p-norm used to define the space
and m is the dimension of u
u (t) =
t, 0 t
0,
t>
u
/ L but u Le
q
Causality: A mapping H : Lm
e Le is causal if the value of
the output (Hu)(t) at any time t depends only on the values
of the input up to time t
(Hu) = (Hu )
Definition 6.1
A scalar continuous function g(r), defined for r [0, a), is a
gain function if it is nondecreasing and g(0) = 0
A class K function is a gain function but not the other way
around. By not requiring the gain function to be strictly
increasing we can have g = 0 or g(r) = sat(r)
Nonlinear Control Lecture # 6 Passivity and Input-Output Stability
Definition 6.2
q
A mapping H : Lm
e Le is L stable if there exist a gain
function g, defined on [0, ), and a nonnegative constant
such that
u Lm
e and [0, )
k(Hu) kL g (ku kL ) + ,
u Lm
e and [0, )
In this case, we say that the system has L gain . The bias
term is included in the definition to allow for systems where
Hu does not vanish at u = 0.
Nonlinear Control Lecture # 6 Passivity and Input-Output Stability
y = h(x, u),
Example 6.4
x = x x3 + u,
y = tanh x + u
V = 12 x2 V = x(x x3 ) x2
c1 = c2 = 21 , c3 = c4 = 1,
L = 1 = 2 = 1
x 1 = x2 ,
x 2 = x1 x2 a tanh x1 + u,
y = x1 ,
a0
P is positive definite
2 = 0
y = h(x, u)
is L stable
Example 6.6
x = x 2x3 + (1 + x2 )u2 ,
y = x2 + u
g2 (r) = r,
L stable
=0
Example 6.7
x 1 = x31 + x2 ,
x 2 = x1 x32 + u,
y = x1 + x2
kxk4 + 2kxk|u|
= (1 )kxk4 kxk4 + 2kxk|u|, 0 < < 1
1/3
(1 )kxk4 , kxk 2|u|
ISS
g1 (r) =
2r,
g2 = 0,
=0
L stable
Nonlinear Control Lecture # 6 Passivity and Input-Output Stability