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Additional Exercises for Chapter 4

1. Consider the system

ẋ1 = x2 , ẋ2 = −x31 (1 − x21 ) − x2

(a) Show that V (x) = 14 x41 − 16 x61 + 12 x22 is positive definite in some neighborhood of the origin.
(b) Using V (x) as a Lyapunov function candidate, show that the system has an asymptotically stable
equilibrium point at the origin.
(c) Is the origin globally asymptotically stable?
2. Consider the system
ẋ1 = −x1 + x2 , ẋ2 = −h(x1 ) − x2 + u
2
where zh(z) ≥ kz for all z, for some k > 0.
(a) Let u = 0. Using Z x1
V (x) = h(z) dz + 12 x22
0
show that the origin is globally asymptotically stable.
(b) Show that the system is input-to-state stable.