INDIAN INSTITUTE OF TECHNOLOGY ROORKEE

Lyapunov based design

techniques
Presented
by

Arijit Ghosh
Soumyadeep Bose
Satyavrat Dubey
Introduction

What is robustness?

What is Lyapunov re-design?

What are these techniques?

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Robust stabilization

x f (t , x) G (t , x)[u (t , x, u )] where x R n
and u R p .
The functions f, G and are defined for (t, x, u) [0, ) D R p

Matching condition : Where control meets uncertaint y.

u (t , x)
So the nominal system with the above input, such that the origin of
the nominal closed - loop system
x f (t , x) G (t , x) (t , x)
is uniformly asymptotic ally stable.

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System with uncertainty

Suppose we' ve a Lyapunov candidate function V(t, x) for the

nominal closed - loop system which satisfies :
1 ( x ) V (t , x) 2 ( x )
V V
V (t , x) [ f (t , x) G (t , x) (t , x)] 3 ( x )
t x
(t , x) [0, ) D, where 1 , 2 , and 3 are class functions.
Now u (t , x) v and the uncertain term satisfies :
(t, x, (t, x) v) (t , x) k v , k [0,1)

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Stabilizing a perturbed system
x f ( x) f ( x) [G ( x) G ( x)]u
f ( x) G ( x)1 ( x); G ( x) G ( x) 2 ( x)

z f1 ( z ) G1 ( z )[u ( z , u )]; 1 2u
Standard equation for a system diffeomorp hed :
z Az B 01 ( z )[u 0 ( z )]; u ( z ) 0 ( z ) 0 ( z ) Kz

For the perturbed system : u ( z ) v

( z, ( z ) v) 1 ( z ) 2 ( z ) 0 ( z ) 2 0 ( z ) Kz 2 ( z ) v
Hence for the above to be satisfied :
1 ( z ) 2 ( z ) 0 ( z ) 2 0 ( z ) Kz ( z ) & 2 ( z ) k 1

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So what should be v, for robustness?

The closed - loop system with u (t , x) v is as follows :

x f (t , x) G (t , x) (t , x) G (t , x)[v (t , x, (t , x) v)]
V V V V
V ( f G ) G (v ) 3 ( x ) G (v ) V 3 ( x ) wT v wT
t x x x
(t, x, (t, x) v) (t , x) k v ; wT v wT wT v w 1 [ (t , x) k v ]
w
Putting v sgn( w)
1 k 1 k w 1
We get wT v wT 0 & hence V 3 ( x )

Hence origin of closed - loop system with uncertaint y remains asymptotic ally stable for v sgn( w)
1 k

But a continuous version of v is used :

(t , x) w
v . w 2
1 k w 2
2 (t , x) w
. w 2
1 k

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Nonlinear damping
Let (t, x, u) (t, x) 0 (t, x, u)
x f (t , x) G (t , x)[u (t, x) 0 (t, x, u) ]
Now the derivative of V(t, x) :
V V V V
V ( f G ) G (v 0 ) 3 ( x ) G ( v 0 )
t x x x
V 3 ( x ) wT v wT
Take v -w (t , x) 2 , we obtain :
2

V 3 ( x ) wT w (t , x) wT V 3 ( x ) w w 2 k0
2 2 2
2 2 2 2

2
k
V 3 ( x ) 0

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Nonlinear damping: an example
Consider t he following system :
x x 3 u x 0 (t )
Comparing with the standard equation, we get (x) x, f(x) x 3 ; G(x) 1
The control u (x) v; The nominal stabilizin g control is (x) -x 3 x

Let the Lyapunov candidate function is V ( x) x 2

Putting the value of , we get x x v x 0 (t )
V
w G 2 x; v (2 x). x 2 2x 3 , 0
x

Hence the closed - loop system becomes : x x 2x 3 x 0 (t )

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