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  • Bound On Nonlinearity and Perturbations

    Загружено:

    Abdullah Tariq
    7 просмотров3 страницы
    Non linear control

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    Bound on Nonlinearity and Perturbations

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    Non linear control

    Авторское право:

    © All Rights Reserved
    Скачайте в формате PDF или читайте онлайн в Scribd
    Отметить как неприемлемый контент
    7 просмотров3 страницы

    Bound On Nonlinearity and Perturbations

    Загружено:

    Abdullah Tariq
    Non linear control

    Авторское право:

    © All Rights Reserved
    Скачайте в формате PDF или читайте онлайн в Scribd
    Отметить как неприемлемый контент
    из 3
    Consider the system x = f(x) where f : D — R” continously differentiable map. Suppose X = 0 is in D, and is an equilibrium point. Following the principles of Linearization, it is possible to represent the system as x = Ax + g(x) where A = [Of/@x], (Jacobian evaluated at origin), OF /Ox is continous and ame — 0 as ||x|| > 0 (g(x) > 0 as x + 0). Let matrix A be Hurwitz. Then by converse Lyapunov argument, for any positive definite symmetric matrix Q, the solution P of the Lyapunov equation PA+ A’ P = —@ is positive definite. Consider candidate Lyapunov function V(x) = x" Px for the nonlinear system. V(x) is a quadratic Lyapunov function candidate and is positive definite. The derivative of V(x) along the trajectories of the system is given by: V(x) = x7 PF(x) + £7 (x)Px = x! PIAx + g(x)] + [x Al +91 (x)]Px = x!(PA+A™P)x + 2x! P(x) —xT Qx + 2x7 Pg(x) The first term on the right hand side is negative definite, while the second term is (in general) indefinite. The function g(x) satisfies IgGl + 0, as ||x|| 3 0 Ix] Therefore, for any y > 0, there exists r > 0 such that lig)Il < vlad, Vial] Xmin(Q)||x||? where Amin denotes the minimum eigenvalue of a matrix. Amin(Q) is real and positive since Q is symmetric and positive definite. Thus, V(x) < —Pamin(@) = 24||PIl]|ixil2, Vill

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