CONSTRUCTION OF LYAPUNOV

FUNCTIONS
M. Sami Fadali
EBME Dept., UNR
Outline
TheVariableGradient.
Krasovskiis Method.
PhysicallyMotivatedLyapunovFunctions
Examples
2
TheVariableGradient
AssumethatthegradientoftheLyapunovfunctionI x is
knownuptosomeparameters.
7I x = 7I
1
7I
n
1
=
oI
ox
1

oI
ox
n
1
7I

= b
]
x
]
n
]=1
, i = 1, , n
Curlconditions:

2
v
x
i
x
]
=
vv
i
x
]
=
vv
]
x
i
I x = _ 7I x Jx
x

Integralindependentofintegrationpath:choosesimplest.
3
Procedure
Writethegradientintheform
1 n
1
] ]
n
]=1
Usingthecurlconditions,simplifythe
coefficients
]
Obtain thenintegrateittoobtain .
Choose
]
sothatthat is
positivedefiniteand isnegativedefinite..
4
Example
1 1
2 2 1 2
2
1 2
1
11 1 12 2 21 1 22 2
1
2
2
1
1
11
2
12 2
12
2
21 1
21
1
2
22
1
5
Calculate
Simplification
h
ik
x
]
12 21

1 2
1
11 1 22 2
11 1 22 2
1
2 1 2
2
11 1
2
22 1 2 2
2
6
Integration
1 1 1
x
1
0
2 1 2 2
x
2
0
11 1 1
x
1
0
22 2 2
x
2
0
11 1
2
22 2
2
7
Check and
Let
11 22
1
2
2
2
11 1
2
22 1 2 2
2
1
2
1 2 2
2

12
c
asymptoticallystable.
8
Krasovskiis GeneralizedMethod
c
Lyapunovfunction.
1
Sufficientconditionforasymptoticstability
1
=neighborhoodof
Ifconditionholds
n
and radially
unbounded,wehaveglobalasymptoticstability.
Krasovkiis Theorem: ,abovemoregeneral.
9
Example
1 2 1 2 2
5 1
2
4
1
2
4
2
4
1
1 2
2
1 2 2
5
2
Positivedefiniteandradiallyunbounded.
c
globallyasymptoticallystable.
10
PhysicallyMotivatedFunctions
Usepropertiesofthephysicalsystemto
obtainasuitableLyapunovfunction.
Formechanicalsystem(e.g.pendulum):use
sumofkineticandpotentialenergy.
Forcircuits:usesumofelectrostaticand
magneticenergystored.
11
Example:NonlinearRLC
1 2
2
1
L
1 2 2 2 2
1
2
1
2
1
2
2
2
(pos.def.radiallyunbounded)
1 2
2
1 2
2 2
2 2 1
c
isgloballyasymptoticallystable.
12