DRDL22

Outline
Nonlinear Systems
Nonlinear control problem
Dr. V. Sankaranarayanan
Associate Professor
Department of EEE
National Institute of Technology
Tiruchirapalli
DRDL-Hyderabad Advanced Control Engineering

Outline
Outline
1 Stability-review
Stability definitions
Stability theorems

Outline
Outline
1 Stability-review
Stability theorems
2 Nonlinear control problem

Problem formulation
Controllability
Motivation

Stability-review Stability definitions
Nonlinear control problem Stability theorems
Outline
1 Stability-review
Stability theorems

Problem formulation
Controllability
Motivation

Nonlinear system I
Consider the following nonlinear system
ẋ = f (x)
where x ∈ Rn , f : D −→ Rn is a smooth vector field in x on D, and D ⊂ Rn is a

domain that contains the origin x = 0. Let xe ∈ D be an equilibrium point, that
is, f (xe ) = 0. Without loss of generality, we assume xe = 0, the origin.

Lyapunov stability
Definition
The equilibrium point x = 0 is said to be stable if, for each > 0, there is a
δ = δ() > 0 such that
||x(0)|| < δ =⇒ ||x(t)|| < , ∀ t ≥ 0.

Attractivity
Definition
The equilibrium point x = 0 is said to be attractive if there is a η > 0 such that
||x(0)|| < η =⇒ ||x(t)|| −→ 0 as t −→ ∞.

Asymtotic stability
Definition
The equilibrium point x = 0 is said to be asymptotically stable if it is stable and
attractive.

Exponential stability
Definition
The equilibrium point x = 0 is said to be exponentially stable if there exist
positive constants c, k and λ such that
||x(t)|| ≤ k||x(0)||e−λ t , ∀ ||x(0)|| < c.

Outline
1 Stability-review
Stability theorems

Problem formulation
Controllability
Motivation

Lyapunov theorem
ẋ = f (x)
where x ∈ Rn , f : D −→ Rn is locally Lipschitz in x on D, and D ⊂ Rn is a

domain that contains the origin x = 0. Let xe ∈ D be an equilibrium point, that
is, f (xe ) = 0. Without loss of generality, we assume xe = 0, the origin.
Theorem
Let V : D −→ R be a continuously differentiable function such that V is

positive-definite on D and V̇ ≤ 0 in D. Then x = 0 is Lyapunov stable. Further if
V̇ < 0 in D \ 0, then x = 0 is asymptotically stable.

Example I
Consider the simple unforced pendulum without friction. The dynamic

equations can be written as
ẋ1 = x2
ẋ2 = − sin x1
Consider the following Lyapunov candidate function (Positive definite)
V (x) = (1 − cos x1 ) + x22 /2
It is time derivative along the trajectories of the system
V̇ = x2 sin x1 − x2 sin x1
= 0
Since V̇ is negative semi definite, the pendulum is Lyapunov stable around

the equilibrium point (0,0).

Example II
Consider the simple unforced pendulum with viscous damping friction. The
dynamic equations can be written as
ẋ1 = x2
ẋ2 = − sin x1 − x2
Consider the following Lyapunov candidate function (Positive definite)
V = (1 − cos x1 ) + x22 /2
It is time derivative along the trajectories of the system
V̇ = x2 sin x1 − x + 2 sin x1 − x22

≤ 0
Hence the pendulum is Lyapunov stable around the equilibrium point (0,0).
But pendulum with friction is asymptotically stable !
So the Lyapunov candidate function selected for this problem is not appropriate.
This stability theorem is only sufficient condition to check the stability.

La Salle’s invariance principle I
Theorem
Consider the system ẋ = f (x) and let Ω be a compact set that is invariant with
respect to this system. Let V : D → R be continuously differentiable such that
V̇ ≤ 0 in Ω. Let E be the set of points in Ω such that V̇ = 0. Further let M be the
largest invariant set in E. Then every solution starting in Ω converges to M as
t → ∞.
Corollary
Consider the system ẋ = f (x) and let x = 0 be the equilibrium point. Let
V : D → R be continuously differentiable that is positive definite and V̇ ≤ 0 on D.
Let S = {x ∈ Ωc : V̇ = 0}. If no solution of ẋ = f (x) can stay identically in S
except the trivial solution x(t) = 0 then the origin is asymptotically stable.
Consider the pendulum system with friction
ẋ1 = x2
ẋ2 = − sin x1 − x2

La Salle’s invariance principle II
Consider the following Lyapunov function (Positive definite)
V = (1 − cos x1 ) + x22 /2 x1 ∈ (−π, π)
V̇ = sin x1 x2 − sin x1 x2 − x22

≤ 0
Now the set S = {x : x2 = 0}. But the dynamic equation in this set becomes
ẋ1 = 0
ẋ2 = − sin x1
Further
ẋ2 = 0 =⇒ x1 = 0
The only solution can stay identically in the set S is (0, 0) and hence, by La Salle’s
invariance principle, the pendulum system is asymptotically stable around (0, 0)
point.

Problem formulation
Stability-review
Controllability
Motivation
Outline
1 Stability-review
Stability theorems

Problem formulation
Controllability
Motivation

Problem formulation
Stability-review
Controllability
Motivation
Nonlinear control
Nonlinear control system
ẋ = f (x, u)
The control objective is to do one or more of the following

Stabilize the system around one of its equilibrium point or operating point
Improve the performance of the system
Ensure some optimality if possible

Problem formulation
Stability-review
Controllability
Motivation
Outline
1 Stability-review
Stability theorems

Problem formulation
Controllability
Motivation

Problem formulation
Stability-review
Controllability
Motivation
Controllability
Definition
The following nonlinear system
ẋ = f (x, u)
is said to be controllable if for each x0 , xd ∈ D ⊂ Rn and each T > 0, there exist
an admissible input u(t) with the property that if x(t) is the solution to the initial
value (x0 ) problem, then x(T ) = xd

Problem formulation
Stability-review
Controllability
Motivation
Linearization I
ẋ = f (x, u)
Linearizing this system around an operating point (xe , ue )
∂f
f (xe + ∆x, ue + ∆u) = f (xe , ue ) + |(∆x=xe ,∆u=ue ) ∆x
∂x
∂f
+ |(∆x=xe ,∆u=ue ) ∆u
∂u
d(xe + ∆x) dxe d∆x
= +
dt dt dt
d∆x ∂f
= |(∆x=xe ,∆u=ue ) ∆x
dt ∂x
∂f
+ |(∆x=xe ,∆u=ue ) ∆u
∂u

Problem formulation
Stability-review
Controllability
Motivation
Linear system representation
Define
∂f
A= |(∆x=xe ,∆u=ue )
∂x
and
∂f
B= (∆x, ∆u)|(∆x=xe ,∆u=ue )
∂u
then the linear state space model can be written as
∆ẋ = A∆x + B∆u
The above linear system is said to be controllable iff the rank of
C = [B AB A2 B . . . An−1 B] = n

Problem formulation
Stability-review
Controllability
Motivation
Outline
1 Stability-review
Stability theorems

Problem formulation
Controllability
Motivation

Problem formulation
Stability-review
Controllability
Motivation
Example 1
ẋ = ηx3 + u, y=x
The control objective is to drive the output to zero value. Linearizing the system
around this desired point yields
ẋ = u, y=x
The simple linear controller

u = −kx, k>0
results in
ẋ = ηx3 − kx
k
= ηx x2 −
η
q close-loopqsystem is asymptotically stable with the domain of attraction

The
− kη < x < k
η
. But the global asymptotic stability cannot be achieved even the
value of k −→ ∞.

Problem formulation
Stability-review
Controllability
Motivation
Example-1
ẋ = ηx3 + u
But simple nonlinear feedback
u = −ηx3 − kx
results in linear closed-loop system
ẋ = −kx
and ensure asymptotic stability in large.

Warning!
This feedback controller requires exact knowledge of both parameter η and
nonlinearity x3

Problem formulation
Stability-review
Controllability
Motivation
Example-2 I
ẋ1 = x2
ẋ2 = ηx32 + u
A linear controller
u = −k1 x1 − k2 x2 k1 , k 2 > 0
can be designed based on the linear approximation.
But the asymptotic stability cannot be ensured if η > 0. Moreover the closed-loop
system with linear controller for η > 0, possess unstable limit cycle.
ẋ1 = x2
ẋ2 = ηx32 − k1 x1 − k2 x2
ẋ1 = x2
η 2
ẋ2 = −k1 x1 − k2 x2 (1 − x )
k2 2

Problem formulation
Stability-review
Controllability
Motivation
Example-2 II
η 2
For the values outside the closed curve (1 − x )
k2 2
< 0, the closed-loop system
becomes
ẋ1 = x2
ẋ2 = −k1 x1 + k2 x2
which is unstable. So the trajectories starts outside the closed orbit leaves to
infinity.
For the values inside the closed curve (1 − kη x22 ) > 0, the closed-loop system
2
becomes
ẋ1 = x2
ẋ2 = −k1 x1 − k2 x2
and the system is stable with respect to (0, 0).

Problem formulation
Stability-review
Controllability
Motivation
Car-like mobile robot I
Consider the car like mobile robot

Problem formulation
Stability-review
Controllability
Motivation
Car-like mobile robot II
The kinematic model can be written as
ẋ = v cos θ
ẏ = v sin θ
θ̇ = ω
The control objective is to stabilize the mobile robot around any given position
and orientation (xd , yd , θd ) using two control inputs v, ω.
Let us assume that we want to stabilize around (0, 0, 0).
Linearize the system around the equilibrium point, we have
ẋ = v
ẏ = 0
θ̇ = ω
The above linear model is not linearly controllable.

But obviously this system is controllable using nonlinear feedback !
Car parking problem

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Outline

DRDL-Hyderabad Advanced Control Engineering

DRDL-Hyderabad Advanced Control Engineering

2 Nonlinear control problem

DRDL-Hyderabad Advanced Control Engineering

2 Nonlinear control problem

DRDL-Hyderabad Advanced Control Engineering

Consider the following nonlinear system

where x ∈ Rn , f : D −→ Rn is a smooth vector field in x on D, and D ⊂ Rn is a

DRDL-Hyderabad Advanced Control Engineering

||x(0)|| < δ =⇒ ||x(t)|| < , ∀ t ≥ 0.

DRDL-Hyderabad Advanced Control Engineering

DRDL-Hyderabad Advanced Control Engineering

DRDL-Hyderabad Advanced Control Engineering

||x(t)|| ≤ k||x(0)||e−λ t , ∀ ||x(0)|| < c.

DRDL-Hyderabad Advanced Control Engineering

2 Nonlinear control problem

DRDL-Hyderabad Advanced Control Engineering

Consider the following nonlinear system

where x ∈ Rn , f : D −→ Rn is locally Lipschitz in x on D, and D ⊂ Rn is a

Let V : D −→ R be a continuously differentiable function such that V is

DRDL-Hyderabad Advanced Control Engineering

Consider the simple unforced pendulum without friction. The dynamic

Consider the following Lyapunov candidate function (Positive definite)

V (x) = (1 − cos x1 ) + x22 /2

It is time derivative along the trajectories of the system

Since V̇ is negative semi definite, the pendulum is Lyapunov stable around

DRDL-Hyderabad Advanced Control Engineering

Consider the following Lyapunov candidate function (Positive definite)

It is time derivative along the trajectories of the system

V̇ = x2 sin x1 − x + 2 sin x1 − x22

DRDL-Hyderabad Advanced Control Engineering

La Salle’s invariance principle I

Consider the pendulum system with friction

DRDL-Hyderabad Advanced Control Engineering

La Salle’s invariance principle II

Consider the following Lyapunov function (Positive definite)

V = (1 − cos x1 ) + x22 /2 x1 ∈ (−π, π)

V̇ = sin x1 x2 − sin x1 x2 − x22

DRDL-Hyderabad Advanced Control Engineering

2 Nonlinear control problem

DRDL-Hyderabad Advanced Control Engineering

Nonlinear control system

The control objective is to do one or more of the following

DRDL-Hyderabad Advanced Control Engineering

2 Nonlinear control problem

DRDL-Hyderabad Advanced Control Engineering

DRDL-Hyderabad Advanced Control Engineering

Consider the following nonlinear system

Linearizing this system around an operating point (xe , ue )

DRDL-Hyderabad Advanced Control Engineering

Linear system representation

∆ẋ = A∆x + B∆u

The above linear system is said to be controllable iff the rank of

DRDL-Hyderabad Advanced Control Engineering

2 Nonlinear control problem

DRDL-Hyderabad Advanced Control Engineering

Consider the following nonlinear system

The simple linear controller

q close-loopqsystem is asymptotically stable with the domain of attraction

DRDL-Hyderabad Advanced Control Engineering

results in linear closed-loop system

||x(0)|| < δ =⇒ ||x(t)|| < , ∀ t ≥ 0.