MAEG 4050:

Modern Control Systems Analysis and Design

Tutorial class

SUI Congying
 Contents

• Lyapunov method
• Controllability
• Observability
Lyapunov indirect method
 Lyapunov indirect method

Example 1: Test the stability of the system

 Lyapunov indirect method

Solution:
 Lyapunov indirect method

Example 2 : Test the stability of the system

 Lyapunov indirect method

Solution:
 Lyapunov direct method

• Construct a Lyapunov function：

Lyapunov function V(x) exists → stable

ሶ
V(x) exists and 𝑉(𝑥) is negative definite → asymptotically stable

• A useful (direct) stability test for linear systems:

 Lyapunov direct method

Example 3 : Test the stability of the system

 Lyapunov direct method

Solution:
 Lyapunov direct method

Example 4 : For the given system

Decide its stability (and if it is stable, whether asymptotically)

with Lyapunov candidate function
 Lyapunov direct method

Solution:

According to V1, the system is stable (whether or not

asymptotically cannot decide)
 Lyapunov direct method

Example 5 : Investigate the stability of the system described by

 Lyapunov direct method
Solution:
Let 𝑃 = 𝑝𝑖𝑗 with 𝑝12 = 𝑝21 , then
𝑇 0 −1 𝑝11 𝑝12 𝑝11 𝑝12 0 1
𝐴 𝑃 + 𝑃𝐴 = + 𝑝
1 −1 𝑝12 𝑝22 12 𝑝22 −1 −1

Hurwitz theorem:
Matrix A is PD if the determinants
of all orders >0
Controllability
Controllability
Controllability
 Controllability

• Example 6: Consider the system

−2 1 1
𝐴= ,B = ,𝐶 = 1 0
0 0 0

Check whether (A,B) is controllable

 Controllability

• Solution:
 Controllability

• Example 7: Consider the system

1 2 0 2
𝑥ሶ = 3 −1 1 𝑥 + 1 𝑢
0 2 0 1

𝑦= 0 0 1𝑥

Can you find the transformation P so that if 𝑥 = 𝑃−1 𝑥,ҧ the system
can be expressed in control canonical form? If yes, find𝐴,ҧ 𝐵ത and
𝐶ҧ
 Controllability

• Solution:
Controllability
Controllability
Observability
Observability
 Observability

• Example 8: Consider the system

−2 1 1
𝐴= ,B = ,𝐶 = 1 0
0 0 0

Check whether (C,A) is observable

 Observability

• Solution:
Thank you