Outline

CONSTRUCTION OF LYAPUNOV
FUNCTIONS

TheVariableGradient.
Krasovskiis Method.
PhysicallyMotivatedLyapunovFunctions
Examples

M. Sami Fadali
EBME Dept., UNR

TheVariableGradient

Procedure

AssumethatthegradientoftheLyapunovfunction
knownuptosomeparameters.

is

Writethegradientintheform

1, ,

Usingthecurlconditions,simplifythe
coefficients
Obtain
thenintegrateittoobtain
.
Choose
sothatthat
is
isnegativedefinite..
positivedefiniteand

Curlconditions:

Integralindependentofintegrationpath:choosesimplest.
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Calculate

Example

Simplification

Integration

Check

and

Let

asymptoticallystable.

Krasovskiis GeneralizedMethod

Example

Lyapunovfunction.
Sufficientconditionforasymptoticstability
=neighborhoodof
Ifconditionholds
and
radially
unbounded,wehaveglobalasymptoticstability.
Krasovkiis Theorem:
,abovemoregeneral.

Positivedefiniteandradiallyunbounded.
globallyasymptoticallystable.

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Example:NonlinearRLC

PhysicallyMotivatedFunctions
Usepropertiesofthephysicalsystemto
obtainasuitableLyapunovfunction.
Formechanicalsystem(e.g.pendulum):use
sumofkineticandpotentialenergy.
Forcircuits:usesumofelectrostaticand
magneticenergystored.

(pos.def.radiallyunbounded)

isgloballyasymptoticallystable.
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