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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&