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Docsity The Invariance Principle Non Linear Control Systems Lecture Slides PDF
Docsity The Invariance Principle Non Linear Control Systems Lecture Slides PDF
– p. 1/1
ẋ1 = x2
ẋ2 = − a sin x1 − bx2
1
V (x) = a(1 − cos x1 ) + x22
2
V̇ (x) = aẋ1 sin x1 + x2 ẋ2 = − bx22
The origin is stable. V̇ (x) is not negative definite because
V̇ (x) = 0 for x2 = 0 irrespective of the value of x1
– p. 2/1
– p. 3/1
x(0) ∈ M ⇒ x(t) ∈ M, ∀ t ∈ R
Examples:
Equilibrium points
Limit Cycles
x(0) ∈ M ⇒ x(t) ∈ M, ∀ t ≥ 0
– p. 4/1
dist(p, M ) = inf kp − xk
x∈M
– p. 5/1
– p. 6/1
⇒ lim V (x(t)) = a
t→∞
– p. 7/1
L+ ⊂ M ⊂ E ⊂ Ω
x(t) approaches L+ ⇒ x(t) approaches M (as t → ∞)
– p. 8/1
– p. 9/1
V̇ (x) = h1 (x1 )x2 +x2 [−h1 (x1 )−h2 (x2 )] = −x2 h2 (x2 ) ≤ 0
V̇ (x) = 0 ⇒ x2 h2 (x2 ) = 0 ⇒ x2 = 0
S = {x ∈ D | x2 = 0}
– p. 10/1
✁
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❍❍✁✁ Load
✁
✁
✁
✁
✁
✁
✁ 2 ✟✟q
✎☞ ✟✟
✟ r✁✟
✟
✟✟ ✍✌
✟✟
✎☞ ✟✟ q
r✟ 1
✍✌
– p. 12/1
u = g(q) − Kp (q − q ∗ ) − Kd q̇
e = q − q∗ , ė = q̇
M ë = M q̈
= −C q̇ − D q̇ − g(q) + u
= −C q̇ − D q̇ − Kp (q − q ∗ ) − Kd q̇
= −C ė − D ė − Kp e − Kd ė
– p. 14/1
V = 21 ėT M (q)ė + 21 eT Kp e
V̇ = ėT M ë + 21 ėT Ṁ ė + eT Kp ė
1 T
= 2 ė (Ṁ − 2C)ė − ėT (Kd + D)ė
– p. 15/1
M ë = −C ė − D ė − Kp e − Kd ė
ė(t) ≡ 0 ⇒ ë(t) ≡ 0 ⇒ Kp e(t) ≡ 0 ⇒ e(t) ≡ 0
By LaSalle’s theorem the origin (e = 0, ė = 0) is globally
asymptotically stable
– p. 16/1