Chapter 3 Fundamentals of Lyapunov...

Chapter 3

Fundamentals of Lyapunov

Theory

3.1 Nonlinear Systems and

Equilibrium Points

• Nonlinear Systems

A nonlinear dynamic system can usually be

represented by a set of nonlinear differential

equations in the form

= f(x , t)

where f is an n1 nonlinear vector function,

and x is the n1 state vector. The number of

states n is called the order of the systems.

A solution x(t) of the equations (3.1) usually

corresponds to a curve in state space as t

varies from zero to infinity, as already seen in

phase plane analysis for the case n = 2. This

curve is generally referred to as a state

trajectory or a system trajectory.

If the plant dynamics is

= f(x, u, t )

and some control law has been selected

u = g(x, t)

then the closed-loop dynamics is

= f [x, g(x, t),t ]

A special class of nonlinear systems are linear

systems. The dynamics of linear systems are

of the form

= A(t)x

where A(t) is an nn matrix.

• Autonomous and Non-autonomous

systems

Linear systems are classified as either time-

varying or time-invariant, depending on

whether the system matrix A varies with time or

not.

I. Autonomous

Definition 3.1: The nonlinear system (3.1) is

said to be autonomous if f does not depend

explicitly on time, i.e., if the system’s state

equation can be written.

= f(x )

Otherwise, the system is called non-

autonomous.

Obviously, linear time-invariant (LTI) systems

are autonomous and linear time.

II. Non-autonomous

Varying (LTV) systems are non-

autonomous. The second-order systems

studied in chapter 2 are all autonomous.

• Equilibrium Points

1. Definition 3.2: A state x* is an equilibrium

state (or equilibrium point) of the system if

once x(t) is equal to x*, it remains equal to

x* for all future time.

2. Example 3.1: The Pendulum

Consider the pendulum of Figure 3.1,

whose dynamics is given by the following

nonlinear autonomous equation

0MgRbMR2 =θ+θ+θ sin&&& (3.5)

1. Sect. 3.1: where R is the pendulum’s length,

M its mass, b the friction coefficient at the

hinge, and g the gravity constant. Letting

x1 = θ, x2 = θ , the corresponding state-space

equations is

1 = x2

Therefore, the equilibrium points are given by

x2 = 0, sin x1 = 0

which leads to the points (0 [2π], 0).

Physically ,these points correspond to the

pendulum resting exactly at the vertical up

and down positions.

•Nominal Motion

Let x* (t) be the solution of equation (3.2), i.

e., the nominal motion trajectory,

corresponding to initial condition x*(0) = xo.

Let us now perturb the initial condition to be

x(0) = xo + δxo and study the associated

variation of the motion error

e(t) = x(t)－x*(t)

as illustrated in Figure 3.2.

Since both x*(t) and x(t) are solutions of (3.2),

we have

Figure 3.2

* = f(x*) x(0) =xo

= f(x) x(0) = xo + δxo

then e(t) satisfies the following non-

autonomous differential equation

e = f(x* + e, t)－f(x*, t) = g(e, t)

with initial ,condition e(0) = δxo. Since

g(0, t) = 0, the new dynamic system, with e

as state and g in place of f, has an equilibrium

point at the origin of the state space.

Therefore, instead of studying the deviation of

x(t) from x*(t) for the original system, we

may simply study the stability of the

perturbation dynamics (3.8) with respect to

the equilibrium point 0. Note, however, that

the perturbation dynamics is non-autonomous,

due to the presence of the nominal trajectory

x*(t) on the right-hand side.

Each particular nominal motion of an

autonomous system corresponds to an

equivalent non-autonomous system, whose

study requires the non-autonomous system

analysis techniques to be presented in chapter

4.

•Stability and Instability

Definition 3.3：：：：The equilibrium state x = 0 is

said to be stable if , for any R > 0, there existed

r > 0, such that if ||x(0)|| < r, then ||x(t)|| < R

for all t≥ 0 . Otherwise, the equilibrium point is

unstable.

Figure 3.3：：：：Concepts of stability

Example 3.3: Instability of the Van der Pol

Oscillator

The Van der Pol oscillator of Example 2.6 is

described by

One easily shows that the system has an

equilibrium point at the origin.

2

2

112

21

)1( xxxx

xx

−+−=

=

&

&

System trajectories starting from any non-zero

initial states all asymptotically approach a limit

cycle. This implies that , if we choose R in

Definition 3.3 to be small enough for the circle

of radius R to fall completely within the closed-

curve of the limit cycle, then system trajectories

starting near the origin will eventually get out

of this circle (Figure 3.4). This implies

instability of the origin.

Figure 3.4：：：：Unstable origin of the Van der

Pol Oscillator

Definition 3.4：：：：An equilibrium point 0 is

asymptotically stable if it is stable, and if in

addition there exists some r > 0 such that

||x(0)|| < r implies that x(t) 0 as

Asymptotic stability means that the equilibrium

is stable, and that in addition, stated close to 0

actually converge to 0 as time t goes to infinity.

Figure 3.3 shows that system trajectories

starting from within the ball Br converge to the

origin.

∞→t

The Br is called a domain of attraction of the

equilibrium point (while the domain of attraction

of the equilibrium point refers to the largest such

region, i. e., to the set of all points such that

trajectories initiated at these points eventually

converge to the origin). An equilibrium point

which is Lyapunov stable but not asymptotically

stable is called marginally stable.

One may question the need for the explicit

stability requirement in the definition above, in

view of the second condition of state

convergence to the origin.

However, it is easy to build counter-examples

that show that state convergence does not

necessarily imply stability. For instance, a simple

system studied by Vinograd has trajectories of

the form shown in Figure 3.5. All the trajectories

starting from non-zero initial points within the

unit disk first reach the curve C before

converging to the origin. Thus, the origin is

unstable in the sense of Lyapunov, despite the

state convergence. Calling such a system

unstable is quite reasonable, since a curve such

as C may be outside the region where the model

is valid- for instance,

the subsonic and supersonic dynamics of a

high-performance aircraft are radically

different, while, with the problem under

study using subsonic dynamic models, C

could be in the supersonic range.

Figure 3.5: State convergence does not imply

stability

In many engineering applications, it is still

not sufficient to know that a system will

converge to the equilibrium point after

infinite time. There is a need to estimate how

fast the system trajectory approaches 0. The

concept of exponential stability can be used

for this purpose.

Definition 3.5 ：：：：An equilibrium point 0 is

exponentially stable if there exists two strictly

positive numbers α and λ such that

in some ball Br around the origin.

textxt

λα −≤>∀ ||)0(||||)(||,0

In words, (3.9) means that the state vector of an

exponentially stable system converges to the

origin faster than an exponential function. The

positive number λ is often called the rate of

exponential convergence. For instance the

system

is exponentially convergent to x = 0 with a rate

λ = 1. Indeed, its solution is

xxx )sin1( 2+−=&

∫ +−=t

dxxtx0

2 )))]((sin1[exp()0()( ττ

And therefore

Note that exponential stability implies

asymptotic stability. But asymptotic stability

does not guarantee exponential stability, as can

be seen from the system

whose solution is x = 1/(1+t), a function slower

that any exponential function e-λt(with λ > 0).

textx −≤ |)0(||)(|

1)0(,2 =−= xxx&

Definition 3.6: If asymptotic (or exponential)

stability holds for any initial states, the

equilibrium point is said to be asymptotically

(or exponentially) stable in the large. It is also

called globally asymptotically (or

exponentially) stable.

For instance, in Example 1.2 the linearized

system is globally asymptotically stable, but

the original system is not. The simple system

in (3.10) is also globally asymptotically stable,

as can be seen from its solutions.

Linear time-invariant systems are either

asymptotically stable, or marginally stable, or

unstable, as can be seen from the modal

decomposition of linear system solutions;

linear asymptotic stability is always global

and exponential, and linear instability always

implies exponential blow-up. This explains

why the refined notions of stability introduced

here were not previously encountered in the

study of linear system. They are explicitly

needed only for nonlinear systems.

3.3 Linearization and

Local Stability

Consider the autonomous system is (3.2), and

assume that f(x) is continuously differentiable.

Then the system dynamics can be written as

x + fh. o. t. (x)

where fh. o. t. stands for higher-order terms in x.

Note that the above Taylor expansion starts

directly with the first-order term, due to the fact

that f(0) = 0, since 0 is an equilibrium point.

0xx

fx

====

∂∂∂∂∂∂∂∂

====&

Let us use the constant matrix A to denote

that Jacobian matrix of f with respect to x at

x = 0 (an n x n matrix of elements )

Then, the system

ji x/f ∂∂

0xx

fx

====

∂∂∂∂∂∂∂∂

====&

Ax x =&

is called the linearization (or linear

approximation) of the original nonlinear system

at the equilibrium point 0.

Note that, similarly, starting with a non-

autonomous nonlinear system with a control input u

such that , we can write

u) f(x, x =&

0 0) f(0, =

u) x,(f u x

f x

x

f x ...

0) u 0, x (0) u 0, x (

toh+

∂∂

+

∂∂

=====

&

Where stands for higher-order terms in x

and u. Letting A denote the Jacobian matrix of f

with respect to x at (x = 0, u = 0), and B denote

the Jacobian matrix of f with respect to u at the

same point (an matrix of elements

, where m is the number of inputs)

the system

...f toh

mn×ji uf ∂∂

0)u 0, x (0) u 0, x ( u

f B

x

f A

====

∂∂

=

∂∂

=

Bu Ax x +=&

Is the linearization (or linear approximation) of

the original nonlinear system at (x = 0, u = 0).

Furthermore, the choice of a control law of the

form u = u(x) (with u(0) = 0) transforms the

original non-autonomous system into an

autonomous closed-loop system, having x = 0

as an equilibrium point. Linearly

approximating the control law as

the closed-loop dynamics can be linearly

approximated as

Gx x x

u u

0 x

=

≈

=d

d

x BG) (A u(x)) f(x, x +≈=&

Of course, the same linear approximation can be

obtained by directly considering the autonomous

closed-loop system

and linearizing the function f1 with respect to x,

an its equilibrium point x = 0.

x)f u(x)) f(x, x1(==&

Example 3.4：：：：consider the system

Its linearized approximation about x = 0 is

The Linearized system can thus be written

211122

21

2

21

sin)1(

cos

xxxxxx

xxxx

+++=

+=

&

&

xxxxxxx

xxx

1221122

111

0

10

+≈+++=

=⋅+≈

&

&

x11

01 x

=&

A similar procedure can be applied for a

controlled system. Consider the system

The system can be linearly approximated about

x = 0 as

i. e., the linearized system can be written

0 )1(425 =+++ uxx x&&&

0 )10(0 ≈+++ ux&&

ux −=&&

Assume that the control law for the original

nonlinear system has been selected to be

then the linearized closed-loop dynamics is

xxxxu 23 cossin &++=

0=++ xxx &&&

Theorem 3.1 (Lyapunov’s linearization

method)

•If the linearized system is strictly stable (i.e ,if

all eigenvalues of A are strictly in the left-half

complex plane), then the equilibrium point is

asymptotically stable (for the actual nonlinear

system).

•If the linearized system is unstable (i.e , if at

least one eigenvalue of A is strictly in the

right-half complex plane), then the equilibrium

point is unstable(for the nonlinear system).

•If the linearized system is marginally stable (i. e,

all eigenvalues of A are in the left-half complex

plane, but at least one of them is on the jω axis), then one cannot conclude anything from the

linear approximation (the equilibrium point may

be stable, asymptotically stable, or unstable for

the nonlinear system).

Example 3.6：：：：Consider the first order system

The origin 0 is one of the two equilibrium

points of this system. The linearization of this

system around the origin is

5bxaxx +=&

axx =&

The application of Lyapunov’s linearization

method indicates the following stability

properties of the nonlinear system

• a < 0：asymptotically stable;

• a > 0：unstable;

• a = 0：cannot tell from linearization.

In the third case, the nonlinear system is

The linearization method fails while, as we shall

see, the direct method to be described can easily

solve this problem.

5bxx =&

3.4 Lyapunov’s Direct Method

The Basic philosophy of Lyapunov’s direct

method is the mathematical extension of a

fundamental physical observation; if the total

energy of a mechanical (or electrical) system is

continuously dissipated, then the system,

where linear or nonlinear, must eventually

settle down to an equilibrium point.

Specifically , let us consider the nonlinear

mass-damper-spring system in Figure 3.6,

whose dynamics equation is

with representing nonlinear dissipation or

damping, and ( ) representing a

nonlinear spring term. Assume that the mass is

pulled away from the natural length of the

spring by a large distance, and then released.

03

10=+++ xkxkxxbxm &&&&

xxb &&

310xkxk +

The linearization method cannot be used either

because the motion starts outside the linear

range (and in any case the system’s linear

approximation is only marginally stable).

Figure 3.6：：：：A nonlinear mass-damper-

spring system

The total mechanical energy of the system is

the sum of its kinetic energy and its potential

energy.

(3.14) 4

1

2

1

2

1

)(2

1)x(

4

1

2

0

2

0

3

10

2

xkxkxm

dxxkxkxmVx

++=

++= ∫

&

&

Comparing the definitions of stability and

mechanical energy, one can easily see some

relations between the mechanical energy and

the stability concepts described earlier:

• zero energy corresponds to the equilibrium

point

• asymptotic stability implies the

convergence of mechanical energy to zero

•instability is related to the growth of

mechanical energy

0) x 0, (x == &

There relations indicate that the value of a

scalar quantity, the mechanical energy,

indirectly reflects the magnitude of the state

vector; and furthermore, that the stability

properties of the system can be characterized

by the variation of the mechanical energy of

the system.

The rate of energy variation during the

system’s motion is obtained easily by

differentiating the first equality in (3.14) and

(3.13)

3

3

10

)(

)()x(

xbxxbx

xxkxkxxmV

&&&&

&&&&&

−=−=

++=

Equation (3.15) implies that the energy of the

system, starting from some initial value, is

continuously dissipated by the damper until

the mass settles down, i. e., until .

Physically, it is easy to see that the mass must

finally settle down at the natural length of the

spring , because it is subjected to a non-zero

spring force at any position other that the

natural length.

(3.15)

0=x&

Definition 3.7：：：： A scalar continuous function

V(x) is said to be locally positive definite if

V(0) = 0 and, in a ball

If V(0) and the above property holds over the

whole state space, then V(x) is said to be

globally positive definite.

0RB

0)( >=>≠ x 0x V

In a local or global sense, i. e., a function V(x)

is negative definite if -V(x) is positive definite;

V(x) is positive semi-definite if V(x) ≥ 0 for

is negative semi-definite if －V(x) is positive semi-definite. The prefix

“semi” is used to reflect the possibility of V

being equal to zero for .

)(;0 x x V≠

0x ≠

Figure 3.7：：：：Typical shape of a positive

definite function ),( 21 xxV

With x denoting the state of the system (3.2),

a scalar function V(x)actually represents an

implicit function of time t. Assuming that V(x)

is differentiable, its derivative with respect to

time can be found by the chain rule:

f(x)x

xx

x

∂∂

=∂∂

==VV

dt

dVV &&

)(

Figure 3.8：：：：Interpreting positive definite

functions using contour curves

Definition 3.8 If, in a ball , the function

V(x) is positive definite and has continuous

partial derivatives, and if its time derivative

along any state trajectory of system (3.2) is

negative semi-definite, i. e.,

then V(x) is said to be a Laypunov function for

the system (3.2).

0RB

0)( ≤xV&

Figure 3.9：：：：Illustrating Definition 3.8 for n= 2.

Theorem 3.2 (Local Stability )

If, in a ball , there exists a scalar function

V(x) with continuous first partial derivatives

such that

• V(x) positive definite (locally in ).

• (x) is negative semi-definite (locally in ).

then the equilibrium point 0 is stable. If,

actually, the derivative (x) is locally negative

definite in , then the stability is asymptotic.

0RB

0RB

0RBV&

V&

0RB

The proof of this fundamental result is

conceptually simple, and is typical of many

proofs in Lyapunov theory.

Proof: Let us derive the result using the

geometric interpretation of a Lyapunov

function, as illustrated in Figure 3.9 in the case

n =2. To show stability, we must show that

given any strictly positive number R, there

exists a (smaller) strictly positive number r

such that any trajectory starting inside the ball

Br remains inside the ball BR for all future time.

Let m be the minimum of V on the sphere SR.

Since V is continuous and positive definite, m

exists and is strictly positive. Furthermore, since

V(0) = 0, there exists a ball Sr around the origin

such that V(x) < m for any x inside the ball

(Figure 3.11a). Consider now a trajectory whose

initial point x(0) is within the ball Br . Since V is

non-increasing along system trajectories, V

remains strictly smaller smaller than m, and

therefore the trajectory cannot possibly cross the

outside sphere SR. Thus, any trajectory starting

inside the ball BR, and therefore Lyapunov

stability is guaranteed.

Let us now assume that is negative definite,

and show asymptotic stability, by contradiction.

Consider a trajectory starting in some ball Br as

constructed above (e. g., the ball Br

corresponding to R = R0). Then the trajectory

will remain in the ball BR for all future time.

Since V is lower bounded and decreases

continually, V tends towards a limit L, such that

Assume that this limit is not

zero, i. e., that L > 0. Then, since V is

continuous and V(0) = 0, there exists a ball

that the system trajectory never enters (Figure

3.11b).

V&

( )( ) ., LtV0t ≥≥∀ x

0rB

Figure 3.11: Illustrating the proof of Theorem

3.2 for n =2

But then, since is also continuous and

positive definite, and since BR is bounded,

must remain larger than some strictly positive

number L1. This is a contradiction, because it

would imply that V(t) decreases from its initial

value V0 to a value strictly smaller that L, in a

finite time smaller than Hence, all

trajectories starting in Br asymptotically

converge to the origin.

[ ] ./ 10 LLV −

V&−V&−

Example 3.7：：：：Local stability

A simple pendulum with viscous damping is

described by

Consider the following scalar function

0sin =θ+θ+θ &&&

) ,( 2

)cos-(1(x)2

θθ=>θ

+θ= &&

VV

One easily verifies that this function is locally

positive definite. As a matter of fact, this

function represents the total energy of the

pendulum, composed of the sum of the

potential energy and the kinetic energy. Its

time-derivative is easily found to be

Therefore, by invoking the above theorem one

concludes that the origin is a stable equilibrium

point.

0V ≤θ=θθ+θθ= 2 sin (x) &&&&&& －

In fact, using physical insight, one easily sees

the reason why , namely that the

damping term absorbs energy. Actually, is

precisely the power dissipated in the pendulum.

However, with this Lyapunov function, one

cannot draw conclusions on the asymptotic

stability of the system, because is only

negative semi-definite.

0 (x) ≤V&

V&

(x)V&

Example 3.8：：：：Asymptotic stability

Let us study the stability of the nonlinear

system defined by

around its equilibrium point at the origin.

Given the positive definite function

)2xx(xxx4x

xx4)2xx(xx

2

2

2

122

2

12

2

21

2

2

2

111

－

－－

++=

+=

&

&

2

2

2

121 xx)x,x(V +=

Its derivative along any system trajectory is

Thus, is locally negative definite in the 2-

dimensional ball , i. e. in the region

defined by . Therefore, the

above theorem indicates that the origin is

asymptotically stable.

V&

)2xx)(xx(2V2

2

2

1

2

2

2

1 −++=&

V&

2B

2xx2

2

2

1 <+

V(x) must be radically unbounded, by which

we mean that as ∞→(x)V ∞→ x

Theorem 3.3 (Global Stability ) Assume that

there exists a scalar function V of the state x,

with continuous first order derivatives such that

• V(x) is positive definite

• is negative definite

• as

then the equilibrium at the origin is globally

asymptotically stable.

(x)V&

∞→(x)V ∞→ x

The reason for the radial unboundedness

condition is to assure that the contour curves

(or contour surfaces in the case of higher

order systems) correspond to

closed curves. If the curves are not closed, it

is possible for the state trajectories to drift

away from the equilibrium point, even though

the state keeps going through contours

corresponding to smaller and smaller .

α=VV (x)

s'αV

Figure 3.12：：：：Motivation of the radial

unboundedness condition

3.4.3 Invariant Set Theorems

The reason is that it often happens that ,

the derivative of the Lyapunov function

candidate, is only negative semi-definite.

In this kind of situation, fortunately, it is still

possible to draw conclusions on asymptotic

stability, with the help of the powerful

invariant set theorems, attributed to La Salle.

V&

Definition 3.9：：：： A set G is an invariant set for a

dynamic system if every system trajectory which

starts from a point in G remains in G for all future

time.

For instance, any equilibrium point is an invariant

set. The domain of attraction of an equilibrium point

is also an invariant set. A trivial invariant set is the

whole state-space. For an autonomous system, any

of the trajectories in state-space is an invariant set.

Since limit cycles are special cases of system

trajectories (closed curves in the phase plane), they

are also invariant sets.

Besides often yielding conclusions on

asymptotic stability when the derivative of

the Lyapunov function candidate, is only

negative semi-definite, the invariant set

theorems also allow us to extend the concept of

Lyapunov function so as describe convergence

to dynamic behaviors more general than

equilibrium, e. g., convergence to a limit cycle.

Similarly to our earlier discussion of

Lyapunov’s direct method, we first discuss the

local version of the invariant set theorems, and

then the global version.

V&−

Theorem 3.4(Local Invariant Set Theorem)

Consider an autonomous system of the form

(3.2), with f continuous, and let V(x) be a

scalar function with continuous first partial

derivatives. Assume that

• for some l > 0, the region defined by

is bounded

•

lΩlV (x) <

linallforV Ω≤ x 0 (x)&

Let R be the set of all points within where

, and M be the largest invariant set in

R. Then, every solution x(t) originating in

tends to M as .

lΩ

0 (x)=V&

lΩ∞→t

In the above theorem, the word “largest” is

understood in the sense of set theory, i. e., M

is the union of all invariant sets (e. g.,

equilibrium points or limit cycles) within R.

In particular, if the set R is itself invariant (i. e.,

if once for all future time),

then M = R. Also note that V, although often

still referred to as a Lyapunov function, is not

required to be positive definite.

0V,0V ≡= && then

Figure 3.14：：：：Convergence to the largest

invariant set M

Example 3.12：：：：Domain of Attraction

Consider the system

Notice first that the set defined by

[ ][ ]10x2xx3xx

10x2xxxx

2

2

4

1

5

2

3

12

2

2

4

1

7

12

−+−−=

−+−=

&

&1

)10x2x)(x12x4(

)10x2x(t

22

41

62

101

2

2

4

1

−++−=

−+d

d

Which is zero on the set. The motion on this

invariant set is described (equivalently) by

either of the equations

Therefore, we see that the invariant set

actually represents a limit cycle, along which

the state vector moves clockwise.

312

21

xx

xx

−=

=

&

&

Figure 3.15：：：：Convergence to a limit cycle

Global Invariant Set theorems

The above invariant set theorem and its

corollary can be simply extended to a global

result, by requiring the radial unboundedness

of the scalar function V rather than the

existence of a bounded lΩ

Theorem 3.5 (Global Invariant Set Theorem)

Consider the autonomous system (3.2), with f

continuous, and let V(x) be a scalar function

with continuous first partial derivatives.

Assume that

•

•

Let R be the set of all points where

and M be the largest invariant set in R. Then

all solutions globally asymptotically converge

to M as

∞→∞→ (x) xasV

0(x) ≤V&

0,(x) =V&

∞→t

Example 3.14：：：：A class of second-order

nonlinear systems

Consider a second-order system of the form

where b and c are continuous functions

verifying the sign conditions

0)x(c)x(bx =++ &&&

( )( ) 0x0xxc

0x0xbx

≠>

≠>

for

for &&&

The dynamics of a mass-damper-spring

system with nonlinear damper and spring can

be described by equations of this form, with

the above sign conditions simply indicating

that the otherwise arbitrary functions b and c

actually represent “damping” and “spring”

effects.

A nonlinear R-L-C (resistor-inductor-

capacitor) electrical circuit can also be

represented by the above dynamic equation

(Figure 3.16).

Note that if the functions b and c are actually

linear , the above

sign conditions are simply the necessary and

sufficient conditions for the system’s stability

(since they are equivalent to the conditions

(

( )x)x(c,x)x(b 01 α=α= &&

).0,0 01 >α>α

Figure 3.16：：：：A nonlinear R-L-C circuit

Together with the continuity assumptions, the

sign conditions on the functions b and c imply

that b(0) = 0 and c(0) = 0 (Figure 3.17). A

positive definite function for this system is

which can be thought of as the sum of the

kinetic and potential energy of the system

Differentiating V, we obtain

∫+=x

0

2 dy)y(cx2

1V &

0)x(bx

x)x(c)x(cx)x(bxx)x(cxxV

≤−=

+−−=+=

&&

&&&&&&&&&

Which can be thought of as representing the

power dissipated in the system. Furthermore,

by hypothesis, only if .

Now implies that

which is nonzero as long as x ≠ 0. Thus the

system cannot get “stuck” at an equilibrium

value M in R contains only one point, namely

. Use of the local invariant set

theorem indicates that the origin is a locally

asymptotically stable point.

0)x(bx =&& 0x =&

0x =&

)x(cx −=&&

[ ]0x,0x == &

Figure 3.17：：：：The functions )x(c)x(b and &

Furthermore, if the integral

, then V is a radically unbounded function

and the equilibrium point at the origin is

globally asymptotically stable, according to

the global invariant set theorem.

∫ ∞→x

oxdr)r(c as unbounded is

For instance, the system

is globally asymptotically convergent to x = 0

(while, again, its linear approximation would

be inconclusive, even about its local stability).

The relaxation of the positive definiteness

requirement on the function V, as compared

with Lyapunov’s direct method, also allows

one to use a single Lyapunov-like function to

describe systems with multiple equilibria.

xxxxx 2453 sin=++ &&&

3.5 System Analysis Based on

Lyapunov’s Direct Method

There is no general way of finding

Lyapunov Function s for nonlinear systems.

This is fundamental drawback of the direct

method.

•Definition 3.10

A square matrix M is symmetric if

(in other words, if ). A

square matrix M is skew-symmetric if

(i. e., if

An interesting fact is that any square

matrix M can be represented as the sum of a

symmetric matrix and a skew-symmetric

matrix. This can be shown by the following

decomposition

TMM =MjiMj,i ij =∀

TM- M = ).MjiMijj,i −=∀

nn×

22

TT M-MMMM +

+=

where the first term on the left side is

symmetric and the second term is skew-

symmetric.

Another interesting fact is that the quadratic

function associated with a skew-symmetric

matrix is always zero. Specifically, let M be

a skew-symmetric matrix and x an

arbitrary vector. Then the definition

of a skew-symmetric matrix implies that

Since is a scalar, the right-hand

side of the above equation can be replaced

by its transpose. Therefore,

nn×1n×

xM-xMxx TTT =

xMx TT

Mxx- Mx x TT =

This shows that

In designing some tracking control systems

for robots, for instance, this fact is very

useful because it can simplify the control law,

as we shall see in chapter 9.

Actually, property (3.16) is a necessary and

sufficient condition for a matrix M to be

skew-symmetric. This can be easily seen by

applying (3.16) to the basis vectors

0 Mx xx, T =∀

e

：ie

[ ] [ ]0 0eMe =∀=>=∀ iiiS

T

i M,i,i

and

[ ][ ]0 ),(

0)e(eM)e(e ),( T

=+++∀=>

=++∀

jjjiijii

jiSji

MMMMj,i

j,i

which, using the first result, implies that

( ) ijji MM,j,i −=∀

In our later analysis of linear systems, we will

often use quadratic functions of the form

as Lyapunov function candidates. In

view of the above, each quadratic function

with a symmetric matrix. Thus, in considering

quadratic functions of the form as

Lyapunov function candidates, one can

always assume, without loss of generality, that

M is symmetric.

MxxT

MxxT

Definition 3.11：：：：A square n× n matrix M is

positive definite (p. d.) if

In other words, a matrix M is positive definite

if the quadratic function is a positive

definite function. This definition implies that

to every positive definite matrix is associated

a positive definite function. Obviously, the

converse in not true.

0Mxx 0 x >=>≠ T

MxxT

Geometrically, the definition of positive-

definiteness can be interpreted as simply saying

that the angle between a vector x and its image

Mx is always less than (Figure 3.18). °90

Figure 3.18:Geometric interpretation of the

positive-definiteness of a matrix M

A necessary condition for a square matrix M

to be p. d. is that its diagonal elements be

strictly positive, as can be seen by applying

the above definition to the basis vectors. A

famous matrix algebra result called Sylvester’s

theorem shows that, assuming that M is

symmetric, a necessary and sufficient

condition for M to be p. d. is that its principal

minors (i. e., ...., det

M ) all be strictly positive; or, equivalently,

that all its eigenvalues be strictly positive. In

particular, a symmetric p. d. matrix is always

inevitable, because the above implies that its

determinant is non-zero.

,MMMM,M 1222121111 −

A positive definite matrix M can always be

decomposed as

(3.17)

where U is a matrix of eigenvectors and

satisfies and Λ is a diagonal matrix

containing the eigenvalues of the matrix M.

Let denote the smallest eigenvalue of

M and the largest. Then, it follows

from (3.17) that

UU M ∧= T

I,UU =T

( )Mminλ( )Mminλ

( ) 2x(M)MxxxM max

T2

min λ≤≤λ

•Lyapunov Functions for Linear

Time-Invariant Systems

Given a linear system of the form

let us consider a quadratic Lyapunov

function candidate

where P is a given symmetric positive

definite matrix. Differentiating the positive

definite function V along the system

trajectory yields another quadratic form

Ax,x =&

Pxx TV =

Qx-xxPxPxx TTTV =+= &&&

(3.18)

where

(3.19)

The question, thus, is to determine whether the

symmetric matrix Q defined by the so-called

Lyapunov equation (3.19) above, is itself p. d. If

this is the case, then V satisfies the conditions of

the basic theorem of section 3.4, and the origin

is globally asymptotically stable. However, this

“natural” approach may lead to inconclusive

result, i. e., Q may be not positive definite even

for stable systems.

-QPAPA =+T

Example 3.17：：：：consider a second-order linear

system whose A matrix is

If we take P = I, then

The matrix Q is not positive definite. Therefore,

no conclusion can be drawn from the Lyapunov

function on whether the system is stable or not.

−−

=128

40A

−−

−=+=−

244

40Q TPAPA

A more useful way of studying a given linear

system using scalar quadratic functions is ,

instead, to derive a positive definite matrix P

from a give positive definite matrix Q, i. e.,

•choose a positive definite matrix Q

•solve for P from the Lyapunov equation

(3.19)

•check whether P is p. d

If P is p. d., then is a Lyapunov

function for the linear system and global

asymptotical stability is guaranteed. Unlike

the previous approach of going from a given

P to a matrix Q, this technique of going from

a given Q to a matrix P always leads to

conclusive results for stable linear systems, as

seen from the following theorem.

PxxT

Theorem 3.6：：：：A necessary and sufficient

condition for a LTI system to be strictly

stable is that, for any symmetric p. d. matrix Q,

the unique matrix P solution of the Lyapunov

equation (3.19) be symmetric positive definite.

Axx =&

Proof：：：：The above discussion shows that the

condition is sufficient, thus we only need to

show that it is also necessary. We first how that

given any symmetric p. d. matrix Q, there

exists a symmetric p. d. matrix P verifying

(3.19). We then show that for a given Q, the

matrix P is actually unique.

Let Q be a given symmetric positive definite

matrix, and let

( ) ( )dttt0

T∫∞

= AQAP expexp

Once can easily show that this integral exists if

and only if A is strictly stable. Also note that the

matrix P thus defined is symmetric and positive

definite, since Q is. Furthermore, we have

( ) ( )[ ]( ) ( ) ( )[ ]

PA PA

AAAQAA

AQAQ

+=

+=

=−

∫

∫∞

=

∞

=

T

0t

TT

0t

T

dtttt

ttd

expexpexp

expexp

Where the first equality comes from the

stability of A (which implies that exp (A∞∞∞∞)= 0),

the second from differentiating the exponentials

explicitly, and the third from the fact that A is

constant and therefore can be taken out of the

integrals.

The uniqueness of P can be verified similarly by

nothing that another solution P1 of the Lyapunov

equation would necessarily verify

( )[ ]( ) ( )

( ) P A)QA

AAPPA)A

AP )AP

11

11

==

+−=

−=

∫

∫

∫

∞

=

∞

=

∞

=

dttt

dttt

ttd

T

0t

TT

0t

T

0t

exp(exp

]exp(exp

expexp(

An alternate proof of uniqueness is the elegant

original proof given by Lyapunov, which

makes direct use of fundamental algebra

results.

Example 3.18：：：：consider again the second-

order system of Example 3.17. Let us take Q =

I and denote P by

=

2221

1211

pp

ppP

where, due to the symmetry of P,

Then the Lyapunov equations is

1221 pp =

−

−=

−

−+

−−

10

01

pp

pp

124

80

128

40

pp

pp

2221

1211

2221

1211

whose solution is

161pp165p 221211 /,/ ===

The corresponding matrix

=

11

15

16

1P

is positive definite, and therefore the linear

system is globally asymptotically stable. Note

that we have solved for P directly , without

using the more cumbersome expression (3.20).

Even though the choice Q = I is motivated by

computational simplicity, it has a surprising

property：the resulting Lyapunov analysis

allows us to get the best estimate of the state

convergence rate, as we shall see in section

3.3.5.

3.5.3 The Variable Gradient Method

The variable gradient method is a formal

approach to constructing Lyapunov functions. It

involves assuming a certain form for the gradient

of an unknown Lyapunov function and then

finding the Lyapunov function itself by

integrating the assumed gradient. For low order

systems, this approach sometimes leads to the

successful discovery of a Lyapunov function.

To start with, let us note that a scalar function

V(x) is related to its gradient ∇V by the integral

relation

( ) xxx

0∫ ∇= VdV

Where In

order to recover a unique scalar function V

from the gradient ∇V , the gradient function

has to satisfy the so-called curl conditions

.// Tn1 xVxVV ∂∂∂∂=∇ ,........,

),.....,,,( n21jix

V

x

V

i

j

j

i =∂

∂∇=

∂∂∇

Note that the component is simply the

directional derivative For instance, in

the case the above imply means that

thi iV∇./ ixV ∂∂

,2n =

1

2

2

1

x

V

x

V

∂∂∇

=∂∂∇

The principle of variable gradient method is to

assume a specific form for the gradient ∇V,

instead of assuming a specific form for the

Lyapunov function V itself. A simple way is to

assume that the gradient function is of the form

∑=

=∇n

1jjiji xaV

where the ‘s are coefficients to be determined. ija

This leads to the following procedure for seeking

a Lyapunov function V：

•assume that ∇V is given by (3.21) (or another

form)

•solve for the coefficients so as the satisfy the

curl equations.

•Restrict the coefficient in (3.21) so that is

negative semi-definite (at least locally)

•computer V from ∇V by integration

•check whether V is positive definite

ija

V&

Since satisfaction of the curl conditions implies

that the above integration result is independent

of the integration path, it is usually convenient

to obtain V by integrating along a path which is

parallel to each axis in turn, i. e.,

( ) ( ) ( )

( ) nn21

x

0 n

221

x

0 211

x

0 1

dxxxxV

dx00xxVdx00xVV

n

21

,.....,,

...,.....,,,,.....,,

∫

∫∫

∇+

+∇+∇=x

Example 3.20：：：：Let us use the variable gradient

method to find a Lyapunov function for the

nonlinear system

22122

11

xx2x2x

x2x

+−=

−=

&

&

We assume that the gradient of the

undetermined Lyapunov function has the

following form

2221212

2121111

xaxaV

xaxaV

+=∇

+=∇

The curl equation is

1

21121

2

12212

1

2

2

1

x

axa

x

axa

x

V

x

V

∂∂

+=∂∂

+

∂∂∇

=∂∂∇

If the coefficients are chosen to be 0aa1aa 21122211 ==== ,

which leads to

2211 xVxV =∇=∇

then can be computed as V&

( )2122

21 xx1x2x2VV −−−=∇= x&&

Thus, is locally negative definite in the

region The function V can be

computed as

(3.22)

V&

.)( 0xx1 21 >−

( ) ∫ ∫+

=+= 1 2x

0

22

21x

0 22112

xxdxxdxxV x

This is indeed positive definite, and therefore

the asymptotic stability is guaranteed.

Note that (3.22) is not the only Lyapunov

function obtainable by the variable gradient

method. For example, by taking

3ax3a

xa1a

22

2

221

221211

==

==

,

,

we obtain the positive definite function

321

22

21 xxx

2

3

2

xV ++=

whose derivative is

)( 22

2121

22

22

21 xx3xxx2x6x2V −−−−=&

One easily verifies that is a locally

negative definite function (nothing that

the quadratic terms are dominant near the

origin), and therefore, (3.23) represents

another Lyapunov function for the system.

V&

3.5.4 Physically Motivated Lyapunov

Functions

][ qKqqHq pTT

2

1V += &&

•A Simple Convergence Lemma

Lemma：：：：If a real function W(t) satisfies the

inequality

(3.26) ( ) ( ) 0tWtW ≤α+&

where α is a real number. Then t

e0WtWα−≤ )()(

Proof：：：：Let us define a function Z(t) by

(3.27) WWtZ α+= &)(Because the second term in the right-hand-side

of the above equation is non-positive, one has t

e0WtW α−≤ )()(

The above lemma implies that, if W is a non-

negative function, the satisfaction of (3.26)

guarantees the exponential convergence of W

to zero. In using Lypunov’s direct method for

stability analysis, it is sometimes possible to

manipulate into the form (3.26). In such a

case, the exponential convergence of V and the

convergence rate can be inferred and, in turn,

the exponential convergence rate of the state

may then be determined.

V&