Centro de Investigacin y de Estudios Avanzados del IPN

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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