|

. (
( )(

( ( );

( )) ( ) ( ))/ | , ( ) ;

( )

( )

( (

( )) ) cycles.

is stable if | ( )|

. Period

) | ( ) ( )| | |

Lipschitz: Hartman-Grobman: If is a hyperbolic (no e-vals on imag. axis) eq. of ( ), then a homeomorphism from a nbhd. of to that ( ) to those of maps traj. of . Bendixsons: ( ) If ( ) is not identically zero and

Locally Lipschitz: every point has a neighborhood where the above condition holds for some ( [ ) ); ( sol. exists on [ ); ( ) locally L. unique sol. on ) globally L. unique solution on , )

does not change sign in a simply connected region , then there are no periodic orbits lying entirely in . Poincare-Bendixson ( ): compact, positively invariant for ( ) . If contains no eq. points, then it contains a periodic orbit. If contains only one eq. which is an unstable focus or unstable node, then it contains a periodic orbit.

( ) ( ) solutions of ( ) from and , and remaining in a -. Then, set with Lipschitz cons. on , , ( ) s.t. | | | ( ) ( )| , Bellman-Gronwall: ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( )
( )

, , -

- ( ) , -

. Then if ( ) ( ) ( )

Brouwer: If and 1D Bifurcations: Fold |

( )

is a closed bounded convex subset of a Euclidean space is cont., then has a fixed point in . and

has an eigenvalue at Transcritical

Schauder: If is a closed bdd. cvx. subset of a Banach space is completely cont., then has a fixed point in . (Completely continuous: continuous for any bounded set the closure of ( ) is compact.)

and

Pitchfork

Pitchfork

Contraction Mapping Theorem: If is a closed subset of a Banach space and is such that | ( ) ( )| | | then has a unique fixed point in ( ) converges to this fixed point for any and the solutions of . | ( )| is stable if such that | ( )| ( ) in a nbhd. of ; ; asy. stable if stable and ( ) ( ) globally asy. stable if stable and ( )

Combination of bifurcations:

is stable if ( ) ( ) globally asy. stable if

( )

positive definite such that ; asy. stable if ( ) | | ( )

* +;

Hopf bifurcation (2D):

has complex conjugate 0

( )

( ) ( ) * ( ) }. ( ) + is bdd, ( )

eigenvalues on the imaginary axis Supercritical: Subcritical:

( )1

LaSalle-Krasovskii (TI systems): ( ) , { ( ) Then, ( ) . Nondim.: Redefine new variables Center manifold theory 0 1 so that [ ] where ( ) is class) has zero real parts ( ) and ( ) has negative real parts. ( ), ( ) ( ) ( by scaling:

largest invariant set in .

For LTI systems, if , then is Hurwitz if ( ) is observable. ; ( ) If is asy. stable, then is open, connected, and invariant. The boundary of is formed by trajectories. An estimate for is the largest level set of a Lyapunov function that fits into . , ) , , ( ) ) is class- if ( ) as . and strictly increasing. It

, ) , ) , ) is classif ( ) is class- for every fixed , and ( ) is decreasing and ( ) as for every fixed . If ( ) is positive definite, then class- functions such ( ) (| |) that (| |) If ( ) is radially unbdd, we can choose to be classStability for TV systems ( ) is stable if such that | ( )| | ( )| ( ), indep. of ; unif. stable if ; unif. stable if ( ) and constant (| ( )|) classsuch that | ( )| ( ) such that | ( )| ; unif. asy. stable if | ( )| (| ( )| ) | ( )| ; globally unif. asy. stable if ; unif. exp. stable if ( ) for some , i.e. ( ) | ( )| | ( )| Lyapunov functions for TV systems ( ) ( ) and ( ) ( ) 1) If ( ) pos. definite on ,* + , then is unif. stable ( ) 2) If further, ( ) or some positive definite ( ), then is unif. asy. stable 3) If and ( ) is radially unbounded, then is globally unif. asy. stable. | | for 4) If ( ) , is unif. exp. stable. LaSalle Krakovskii analogue for TV systems ( ) ( ) ( ) ( ) ( ), pos. def., pos. semi-def., radially unbdd, ( ) locally Lipschitz in , bd in ( ( )) as ( ) Barbalats: If and ( ) is uniformly cont., then ( ) | | ( ) as ; Uniformly cont.: | ( )| ( ) uniformly continuous. ; ( ) bounded LTV Lyapunov The following three properties imply uniform exponential stability ( ) ): ( ) ( ) ( ) ( ) ( ) ( ); ( ( ) ( ) ; converse also true: Suppose is unif. exp. stable, ( ) continuous ( ) and bounded, ( ) continuous, symmetric, and ( ) satisfying 1) and 2) above. , then ( ) ( ) ( ) Suppose ( ) (only pos. semi-definite), then if ( ( ) ( )) is unif. observable, is unif. exp. stable. ( ( ) ( )) is unif. obs. if ( ) ( ) ( ) ( ) such that ; ( )

Parameter estimation for LTI systems: ( ) ( ) ( ); ( ) ( ) unknown. ( )

( )

stable

Another example of PE property: ( ) ( ) ( ) 0 1

( ) ,

( ) ] is unif.

1) ( ( ) ) is unif. obs. if ( ) PE. 2) If ( ) is PE, then asy. stable. Integration of the output preserves obs. Model Reference Adaptive Control Given: , unknown ; Reference model ( ), ( ) given. Choose so that follows ; Choose ( ) and design : ( ) ( ) ( ) ( . If ( ) is PE, then ( Feedback Stabilization by Backstepping ( ) makes globally asy. stable in ( ) ; ( ) Lyap. fn ( ) neg. def. 1)

) )

( )

Design such that ( ) is globally asy. stable in the system ( ) ( ) ( ), ( ) ( ) ; ( ( ) ( ) ) ) ( ( ) ( ))

2)

(
( )

indep. of ( ) ( ) ( )) for any

( ) )

If ( ( ) ( )) is unif. obs., then so is ( ( ) bounded ( ) (

( ) )

Not all systems are globally stabilizable.

Control Lyapunov Functions: ( ) ( ) ( )) ( ( ) ; ( )

( )

( )

( )

Gradient Algorithm for Parameter Estimation: ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ), ( ) ( ) If of ( ( ) ( ) ( ) for some , then ( ) is called persistently exciting , the pair ( ) ( ) ) is uniformly observable, as , indep.

Definition: ( ) smooth pos. def. radially unbdd; ( ) ( ) ( ) Sontags formula generates a control law from a CLF:
( ) { ( ) ( )

( )

( )

( )

( ) .

( )/ ( )

( )/

CLF-based designs have desirable robustness properties