International Journal of Computer Trends and Technology (IJCTT) volume 4 Issue 8 August 2013

ISSN: 2231-2803 http://www.ijcttjournal.org Page 2534

Hybrid impulsive and switching control for the four-dimensional energy resources supply-demand system
Yiqing Ling
#1
, Dandan Li
#2
, Dun Han
#3
, Mei Sun
#4

1#
Zhenjiang Vocational Technical CollegeZhenjiang, Jiangsu, 212016, PR China
1234#
Nonlinear Scientific Research Center, Jiangsu University, Zhenjiang 212013


AbstractIn this paper, a theoretical method for analyzing
the stability of the energy supply-demand system under
the impulsive and switching control is considered. By
employing the theory of impulsive differential equation,
several sufficient conditions ensuring the exponential
stability of the system are obtained. Numerical simulations
are given to verify the effectiveness of the theoretical
analysis.

KeywordsEnergy, supply-demand, hybrid control,
switched Lyapunov function.
I. INTRODUCTION
Energy supply-demand security is the core of energy
security, so ensuring energy supply-demand security is not
only to solve the most important prerequisite for energy
security, but also has a crucial role for the energy and
economic development. By analyzing the energy resources
demand in the eastern regions of China and the energy
resources development in the western regions of China, Sun
ect[1] have established a continuous four-dimensional non-
linear differential system to analyze the dynamical behavior of
the system.
The study on switching systems as a special hybrid system
has attracted great attention since 1990s [2]. A switching
system can be considered as a class of hybrid dynamical
systems consisting of a family of continuous or discrete time
subsystems with a logical rule that orchestrates the switching
between them [3]. Switching among different controllers even
for a single process can be viewed as a switching system. This
area of research has many practical applications in fields such
as applied mathematics, engineering and computer science [4-
7]. Meanwhile, many practical systems in physics, biology,
engineering, and information science exhibit impulsive
dynamical behaviors due to abrupt changes at certain instants
during the dynamical process [8-10]. The impulsive and
switching control is a widely used control strategy in some
biological systems particularly such as biological neural
networks and bursting rhythm models in pathology [11-12].
Date up to now, there are no reports in present literature on
impulsive and switching control for energy supply-demand
system. Inspired by the above discussion, the main purpose of
this paper is to investigate impulsive and switching control for
the energy supply-demand system. By using the theory of
impulsive differential equations, several sufficient conditions
are obtained to ensure the exponential stability of the system.
Finally, the numerical example demonstrates the effectiveness
of the proposed schemes.
This paper is organized as follows. In Section 2, model
description is introduced. In Section 3, problem formulation
and some preliminaries are given. In Section 4, the
exponential stability of the energy supply-demand system is
studied and some sufficient conditions is derived. In Section 5,
a numerical example is given to show the effectiveness of the
obtained results. Finally, Conclusions are drawn in Section 6.
II. MODEL DESCRIPTION
Sun ect[1] have established a continuous four-dimensional
non-linear differential system to analyze the dynamical
behavior of the system. The four-dimensional energy supply-
demand system is described by the following:
1 2 3
1 2 3
1 2 3
1 2
(1 ) ( ) ,
[ ( )],
( ),
.
dx x
a x a y z d u
dt M
dy
b y b z b x N x z
dt
dz
c z c x c
dt
du
d x d u
dt

= +

= +

(1)
Where ( ) x t is A regions energy resources demand, ( ) y t is
B regions energy resource supply to A region. ( ) z t is the
energy resource import in A region. ( ) u t is the renewable
energy resources in A region. ,
i
a ,
i
b ,
i
c ,
i
d , M N are
positive constants. When the systems parameters are chosen
as follows:
1
0.09, a =
2
0.15, a =
1
0.06, b =
2
0.082, b =
3
0.07, b =
1
0.2, c =
2 3 1
0.5, 0.4, 0.1, c c d = = =
2
0.06, d =
3
0.08, d =
1.8, M = 1. N =
We can obtain three equilibrium
points: (0,0,0,0), O
1
S (1.75, -1.52, 0, 2.91) and
2
S (0.8, 0.669, -1.11, 1.33), which are unstable. Let initial
condition (0.82,0.29,0.48,0.1) and parameters are fixed as
above, a chaotic attractor is observed. A four-dimensional
energy resources chaotic attractor is shown in Fig1.

Fig.1. A four-dimensional energy resources chaotic
attractor: 3Dview( ) x y z .
International Journal of Computer Trends and Technology (IJCTT) volume 4 Issue 8 August 2013

ISSN: 2231-2803 http://www.ijcttjournal.org Page 2535

III. PROBLEM FORMULATION AND SOME PRELIMINARIES
Let( , , , ) x y z u
- - - -
be the equilibrium point of system (1), by
using the following transformation:
1
, x x x
-
=
2
, x y y
-
=
3
, x z z
-
=
4
, x u u
-
= the
equilibrium point( , , , ) x y z u
- - - -
can be shifted to the origin:
( ), x Ax f x = +

(2)
where
1 2 3 4
[ , , , ],
T
x x x x x =
2 2 1
1 3 1 3 1 3 1 2 1 3
( ) [ , , ,0],
T
a
f x x b x b x x c c x x
M
= +
1 2 2 3
3 1 3 2
1 2 1 2 3
1 2
2
(1 )
( 2 ) 0 ,
0 ( ) 0
0 0
x
a a a d
M
b N z x b b x b A
c c z c c x c
d d
-
- - -
- -
(

(
(
+ = (
(

(
(


the nonlinear system (2) with the control input can be
described as
( ) ( , ), x Ax f x u t x = + +

where ( , ) u t x is the control input. We can construct a hybrid
impulsive and switching controller
1 2
u u u = + for (2) as
follows:

1 1
1
( ) ( ) ( ),
k k
k
u t B x t l t

=
=

2 2
1
( ) ( ) ( ),
k k
k
u t B x t t t

=
=

(3)
where
1k
B and
2k
B are 4 4 constant matrices, ( ) is the
Dirac impulse. And ( ) 1
k
l t = as
1
,
k k
t t t

s <
otherwise ( ) 0
k
l t = with discontinuity points,
1 2
,
k
t t t < <
lim ,
k
k
t

=
0
0 t > is the initial time.
From (3),
1 1
( ) ( ),
k
u t B x t =
1
[ , ),
k k
t t t

e 1,2,..., k = this implies

that the controller
1
( ) u t switches its values at every instant
,
k
t and without loss of generality, it is assumed that
0
( ) ( ) lim ( ).
k
k k
h
x t x t x t h
+

= = On the other hand,

2
( ) 0 u t = as
,
k
t t = and
1 2
( ) ( ) [ ( ) ( ) ( )] ,
k
k
t
k k
t h
x t x t h Ax f x u s u s ds

= + + +
}

where 0 h > is sufficiently small. As 0 , h
+
this reduces to
2
( ) ( ) ( ) ( )
k k
k k k
x t x t x t B x t

A = = , where
0
( ) lim ( )
k
k
h
x t x t h
+

= .
This implies that the controller
2
( ) u t has the effect of
suddenly changing the state of (2) at the points .
k
t Therefore,
2
( ) u t is an impulsive controller, and
1
( ) u t is a switching
controller.
Accordingly, with the hybrid impulsive and switching control
(3), the nonlinear system of (2) becomes a nonlinear hybrid
impulsive and switching system

1 1
2
0 0
( ) , [ , ),
( ), ,
( ) , 1,2...
k
k k k
k k
x Ax f x B x t t t
x B x t t t
x t x k

= + + e

A = =

= =

(4)
We can rewrite (4) in the form of

1
2
0 0
( ), [ , ),
( ), ,
( ) , 1,2...
k
k
i k k
k k
x A x f x t t t
x B x t t t
x t x k

= + e

A = =

= =

(5)
Where
1
.
k
i k
A A B = + The switching
signal { } : 1,2,.... , R m
+
which is represented
by{ }
k
i according to { }
1
[ , ) 1,2,.... ,
k k k
t t i m

e is a piecewise
constant function. Obviously, system (5) has m different
modes.
Assumption 1. Considering the actual meaning of model (1),
( ), x t ( ), y t ( ), z t ( ) u t are bounded, so let
T
x x L s , where L
is positive constant,
1 2 3 4
[ , , , ]
T
x x x x x = .
Lemma 1. If
n n
P R

e is a symmetric and positive definite
matrix,
n n
Q R

e is asymmetric matrix, then
1 1
min max
( ) ( ) ,
T T T
P Q x Px x Qx P Q x Px

s s .
n
x R e

IV. MAIN RESULTS
Theorem. Assume that Assumption 1 holds, there exist
symmetric and positive definite matrices ,
ik
P 0 > is a
constant, and the nonlinear impulsive and switching system (5)
satisfies
( )
1 1
1 1 0 0
1 1
ln( ) ( ) ( ) ( , ) ,
k k
i i i i k k
i i
b t t b t t t t t t


= =
+ + s s


1
[ , )
k k
t t t

e . (6)
( ) ( )
max 2 2
,
T
k k k
I B I B
(
+ + s

1,2... k = (7)
where
( ) ( )
( )
1
2
2 2
2 1 2
3 2
1 1
max max
min
9
4 4
,
k i k k k k k k k
k
T T
k i i i i i i i
i
a
c c
L b
M
b P A P P A P P P
P

| |
+ + |
|

\ .
(
= + + +
`



)
{ }
2
1
max ,
k
k
i
i m

s s
=
( )
( )
max
min
k
k
k
i
i
i
P
P

= , { } 1,2,..., ,
k
i m e
( )
max
, ( )
min
donate the maximum and minimum
eigenvalues of the matrix, respectively. Then the origin of the
nonlinear impulsive and switching system (5) is exponentially
stable.
Proof. Construct the switched Lyapunov function in the form
of
,
k k
T
i i
V x P x = { } 1,2,..., .
k
i m e (8)
The total derivative of ,
k
i
V with respect to (5), is
International Journal of Computer Trends and Technology (IJCTT) volume 4 Issue 8 August 2013

ISSN: 2231-2803 http://www.ijcttjournal.org Page 2536

( )
2 .
k k k i k k k k k
T T T T T
i i i i i i i
V x P x x P x x A P P A x f P x = + = + +


Notice that
2
k k k
T T T T
i i i
f P x f f x P P x s + ,
2 2 1
1 3 1 3 1 3 1 2 1 3
( ) [ , , ,0] .
T
a
f x x b x b x x c c x x
M
= +
Let
2 1
1 1
,
a
g x
M
=
2
2 3 1 3 1 3
, g b x b x x = +
3 1 2 1 3
, g c c x x =
4
0. g =
We have
2 1
1
1 1
2 2 2 2 2 2
1 2 3 4 1 3
,
a
x
g a
M
M x x x x x x
s s
+ + + +

( )
2 2
3 1 3 1 3 1 3 1
2
3 2 2 2 2 2 2 2 2
1 2 3 4 1 3 1 3
3
,
2
b x x x b x x x
g
b
x x x x x x x x
+
s s s
+ + + + +
3 1 2 1 3 1 2
2 2 2 2 2 2
1 2 3 4 1 3
,
2
g c c x x c c
x x x x x x
s s
+ + + +

2
2
2 2 2 2 2 1
1 1 2 3 4 2
( ) ,
a
g x x x x
M
s + + +
2
2 2 2 2 2 2
2 1 2 3 4 3
9
( ) ,
4
g x x x x b s + + +
2 2
2
2 2 2 2 2 1 2
3 1 2 3 4
( ) .
4
c c
g x x x x s + + +
So
( )
1
2
2 2
2
2 2 2 2 2 2 2 2 2 1 2
1 2 3 4 3 1 2 3 4 2
9
4 4
T
a
c c
f f g g g g b x x x x
M
| |
= + + + s + + + + + |
|
\ .
.
From assumption 1, it follows that
( )
1
1
2
2 2
2 1 2
3 2 2
2 2
2 1 2
3 2
min
9
4 4
9
.
4 4
k
k
T T T
i
i
a
c c
L b
M a
c c
f f L b x x x P x
M P
| |
+ + |
|
| |
\ .
s + + s |
|
\ .

Then
( )
( )
1
2
2 2
2 1 2
3 2
1
max
min
9
4 4
2 .
k k k k k k k
k
T T T T T T
i i i i i i i
i
a c c
L b
M
f P x f f x P P x P P P x P x
P

( | |
+ + ( |
|
(
\ .
s + s +
(
(
(

This implies that
( )
( ) ( )
( )
( ) ( )
1
2
2 2
2 1 2
3 2
1 1
max max
min
2
9
4 4
.
k i k k k k k
k i k k k k k k k k
k
T T T
i i i i i
T T
i i i i i i i i
i
V x A P P A x f P x
a
c c
L b
M
P A P P A P P P V x t
P

= + +
| |
+ + |
|

\ .
(
s + + +
`



)

It leads to
( ) ( ) ( ( )) ,
k k
i k i
V x t b V x t s

1
[ , ),
k k
t t t

e
which implies that
( ) ( ) ( ) ( ) ( )
1 1
exp ,
k k
i i k k k
V x t V x t b t t

s (


1
[ , ).
k k
t t t

e (9)
Substituting (10) into (11) leads to

( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( )
min
max 1 1 1
exp ,
k k
k
T
i i
T
i k k k k
P x t x t V x t
P x t x t b t t

s
s (

and
( ) ( ) ( ) ( ) ( )
1 1 1
exp ,
T T
k k k k
x t x t x t x t b t t

s (


1
[ , ),
k k
t t t

e
On the other hand, from (5), it follows that,
( ) ( ) ( ) ( ) ( ) ( )
2 2
T
T
T
k k k k
x t x t x t I B I B x t

= + +
( ) ( ) ( ) ( )
max 2 2
T
T
k k k k
I B I B x t x t

(
s + +


( ) ( )
,
T
k k k
x t x t

s
where 0,
k
> 1,2,... k =
For
0 1
[ , ), t t t e
( ) ( ) ( ) ( ) ( )
0 0 1 0
exp ,
T T
x t x t x t x t b t t s (


which leads to

( ) ( ) ( ) ( ) ( )
1 1 0 0 1 1 0
exp ,
T T
x t x t x t x t b t t

s (


and

( ) ( ) ( ) ( ) ( ) ( ) ( )
1 1 1 1 1 1 0 0 1 1 0
exp .
T T T
x t x t x t x t x t x t b t t

s s (

Similarly, for
1 2
[ , ), t t t e

( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( )
1 1 2 1
2
1 0 0 1 1 0 2 1
exp
exp .
T T
T
x t x t x t x t b t t
x t x t b t t b t t

s (

s + (


In general, for
1
[ , ),
k k
t t t

e 1,2,... k =
( ) ( ) ( ) ( ) ( )
0 0 1 2 1 1 1 0
exp
T T k
k
x t x t x t x t b t t

s

,
( ) ( )
2 2 1 1
.
k k
b t t b t t

+ + (

(10)
Noticing (6), it follows from (10) that
( ) ( ) ( ) ( ) ( )
0 0 0 0
exp , ,
T T
x t x t x t x t t t s (


0
, t t >
which implies the origin of the nonlinear impulsive and
switching system (5) is exponentially stable.
Remark 1. In inequality (6),
1
1
ln( )
k
i
i

is impulsive effect,
1
1 1
1
( ) ( )
k
i i i k k
i
b t t b t t

=
+

is switching effect.
Remark 2. When
0
lim ( , ) ,
t
t t
+
= implies the origin of the
nonlinear impulsive and switching system (5) is
asymptotically stable.

V. NUMERICAL SIMULATIONS
Example. We prove that the equilibrium point
1
S (1.75, -1.52, 0, 2.91) of the system (1) is stable under the
impulsive and switching control.
Let
1
, x x x
-
=
2
, x y y
-
=
3
, x z z
-
=
4
, x u u
-
= then
we can rewrite (1) as
( ), x Ax f x = +

(11)
International Journal of Computer Trends and Technology (IJCTT) volume 4 Issue 8 August 2013

ISSN: 2231-2803 http://www.ijcttjournal.org Page 2537

where
1 2 2 3
3 1 3 2
1 2 1 2 3
1 2
2
(1 )
( 2 ) 0
0 ( ) 0
0 0
x
a a a d
M
b N z x b b x b A
c c z c c x c
d d
-
- - -
- -
(

(
(
+ = (
(

(
(

,
2 2 1
1 3 1 3 1 3 1 2 1 3
( ) [ , , ,0]
T
a
f x x b x b x x c c x x
M
= + ,
1
( , , , ) S (1.75, -1.52, 0, 2.91) x y z u
- - - -
= ,and the values of
, , , , ,
i i i i
a b c d M N are the same as the values in Section 2.
Correspondingly, system (11) with the impulsive and
switching control can be written as
1
2
0 0
( ), [ , ),
( ), ,
( ) , 1,2...
k
k
i k k
k k
x A x f x t t t
x B x t t t
x t x k

= + e

A = =

= =

(12)
where
1
,
k
i k
A A B = +
( )
11 2 2 3
3 22 3 2
1
1 2 33
1 44
( 2 ) 0
0 0
0 0
k
a a a d
b N z x a b x b
B
c c z a
d a
- - -
-
(
(
+
(

(
(

,
2
{ 1, 2,0,0}
k
B diag ,
and
1
2
2 2
2 1 2
11 1 3 2
2 9
1 2 ,
2 4 4
a
c c x L
a a b
M M
-
| |
| |
= + + |
|
|
\ .
\ .
1
2
2 2
2 1 2
22 1 3 2
9
3 ,
2 4 4
a
c c L
a b b
M
| |
= + + |
|
\ .

( )
1
2
2 2
2 1 2
33 1 2 3 3 2
9
4 ,
2 4 4
a
c c L
a c c x c b
M
-
| |
= + + |
|
\ .
1
2
2 2
2 1 2
44 2 3 2
9
5 .
2 4 4
a
c c L
a d b
M
| |
= + + |
|
\ .

Let {1,1,1,1}
k
i
P diag = , which is symmetric and positive
definite, it leads to 1. =
By calculating, we have ( ) ( )
max 2 2
1,
T
k k
I B I B
(
+ +

then
let 1,
k
it implies that ( )
1
1
ln 0.
k
i
i

Notice that
( ) ( )
1
max max
2 ,
k i k k k k k
T
i i i i i
P A P P A A

(
+ =


( )
1
1
2
2 2
2 1 2
3 2 2
2 2
2 1 2
3 2
min
9
4 4
9
,
4 4
k
i
a
c c
L b
M a
c c
L b
M
P
| |
+ + |
|
| |
\ .
= + + |
|
\ .
( )
1
max
1.
k k k
T
i i i
P P P

= Then 3.
k
b
By letting ( ) ( )
0 0
, 3 , t t t t = 3, = we have
( )
1 1
1 1
1 1
1
1 1 0
1
ln( ) ( ) ( )
( ) ( ) , .
k k
i i i i k k
i i
k
i i i k k
i
b t t b t t
b t t b t t t t

= =

=
+ +
= + =

From Theorem, the origin of the nonlinear impulsive and
switching system (12) is exponentially stable, i.e. the
equilibrium point
1
S (1.75, -1.52, 0, 2.91) of (1) is
exponentially stable.

Fig2 The time evolution of the system (12).
Choosing the values of , , , , ,
i i i i
a b c d M N are the same as the
values in Section 2, the initial states of the controlled system
(14) are selected as(1, 0.4, 2, 0.5) , and the behaviors of the
states
1 2 3 4
( , , , ) x x x x of the controlled chaotic system (14) with
time are displayed in Fig. 2.
VI. CONCLUSIONS
In this paper, we have investigated the exponential stability
of the four-dimensional energy resources supply-demand
system under the impulsive and switching control. Based on
the theory of impulsive, some sufficient conditions have been
presented to guarantee the exponential stability. Finally, the
example with its simulation has been given to demonstrate the
effectiveness of the theory results.
ACKNOWLEDGMENT
This research is funded by Supported by National by the
National Nature Science Foundation of China (No. 71073071,
71273119), the Key Program of Social Science Foundation of
Jiangsu Provincial Department of Education (No. 2010-2-10)
and the Priority Academic Program Development of Jiangsu
Higher Education Institutions.
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