Centro de Investigacin y de Estudios Avanzados del IPN

Unidad Saltillo

Homework: F inal
Student: Manuel Alejandro Lugo Villeda Teacher: PhD. Chidentree Treesatayapun

Final Test analysis and Simulation
With the system as the following, design the control effort u and verify the stability. x1 = −k1 x1 + sin2 (0.1x2 ) ˙ x2 = −k2 x2 + u ˙ Where : k1 > 0 k2 > 0 (3) (1) (2)

First Lyapunov function candidate
Selecting the first Lyapunov function candidate as: 1 L1 = x2 > 0 2 2 ˙ for the (4) Lyapunov function candidate we find the L1 as: ˙ L1 = x2 x2 ≤ 0 ˙ Let us design the controller as : u = k2 x2 − kx2 ˙ Finally, L = −kx2 ≤ 0, the designed system is SISL. where: 2 k>0 (7) (6) (5) (4)

Dynamical Systems

December/14/2010

Robtica y Manufactura Avanzada

for x2 are −6 and for k1 = 0. k2 = 0. and we obtain the behavior of the system. Response at control effort u=−k2x2+kx2 2 0 −2 x −4 −6 0 x 1 2 x 10 20 30 40 50 t [s] 60 70 80 90 100 Figure 2: Response for x1 and x2 in time As we can see the x1 is stable in zero and the x2 on to.5 is the same value for all of it but is not necessary maybe can be other constant but it must be major than zero. in the Figure 1 shows the Simulink program Figure 1: Simulink diagram for L1 the response of x1 and x2 it shows in the Figure 2 and the initial conditions for x1 are 2. thats mean.5. the control u is SISL. Replacing (6) into (2) results : x2 = −kx2 ˙ (8) solving the differential equations (1) and (2) in simulink we obtain x1 and x2 .5 and k = 0.Simulation The control law was formulated in Matlab Simulink. Dynamical Systems December/14/2010 Robtica y Manufactura Avanzada .

1x2 )) + x2 (−k2 x2 + u) and solving: ˙ L(x) = −k1 x2 + x1 sin2 (0.Finally if we graphing the solution of the x1 vs x2 we obtain de trajectory of the signal. Dynamical Systems December/14/2010 Robtica y Manufactura Avanzada .Whit this control effort the system is SISL.1x2 ) x2 (13) (14) This two terms are stable then this is te reason of the control effort that I consider.1x2 ) − k2 x2 + ux2 ) 1 2 in this equation the controller u is defined as: u=− if we replace (13) in (12) thus: ˙ L = −x2 k1 +x1 sin2 (0.1x2 ) x2 x1 sin2 (0.8 2 x 1 Figure 3: Behavior of x1 and x2 with initial conditions in (5.2 1.6 1.8 1 x 1.2) and finalized in zero.4 1.2 0. −5) Second Lyapunov function candidate The second Lyapunov function candidate as: L2 (x) = ˙ and L is defined as: ˙ L2 (x) = x1 x1 + x2 x2 ≤ 0 ˙ ˙ ˙ if (1) and (2) then replacing in (10) and obtain L as: ˙ L(x) = x1 (−k1 x1 + sin2 (0.1x2 ) − x2 k2 −x2 1 2 stable stable 1 2 x1 + x2 > 0 2 2 (9) (10) (11) (12) x1 sin2 (0. in Figure 3 as we can see the trajectory begins in the point (-6. Plot of x vs x 1 2 0 −1 −2 2 −3 −4 −5 −6 0 0.4 0.6 0.

5 5 Figure 5: Response for x1 and x2 in time As we can see the x1 and x2 are stable finally if we graphing the solution of the x1 vs x2 we obtain de trajectory of the signal.5 4 4. −6) Dynamical Systems December/14/2010 Robtica y Manufactura Avanzada . we can propose different kind of constants every constant is major than zero. in Figure 6 as we can see the trajectory of the signal begins in the point (2.5 2 2. in the Figure 4 shows the Simulink program Figure 4: Simulink diagram for L2 the response of x1 and x2 it shows in the Figure 5 and the initial conditions for x1 are 2. we applied the same as in the first Lyapunov function candidate but now x2 is defined as in (14) solving the differential equations (1) and (2) in simulink we obtain x1 and x2 . for x2 are −6 and k1 = 4 and k2 = 8.Simulation For the simulation.1x ) 1 2 2 2 0 −2 x1 −4 x 2 x −6 0 0. Response at control effort u=−(x /x )sin(0.5 1 1.5 t [s] 3 3.

Trajectory of the x vs x 1 2 0 −1 −2 2 −3 −4 −5 −6 0 0.8 2 x Figure 6: Behavior of x1 and x2 with initial conditions in (2.4 0. but if we analyze the equation of the signal in the part sin2 (0.2 1. −6) Conclusion The response of this kind of signals are stable at this kind of control in the second part the control is to fast in the response.8 1 x1 1.1x2 ) always are ≤ 1 so the system at the first candidate function of lyapunov with the control effort u it’s sufficient. Dynamical Systems December/14/2010 Robtica y Manufactura Avanzada .2 0.6 1.6 0.4 1.

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