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    Laboratory Exercise #4 Investigation of The Nonlinear Systems Stability

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    Farabi Askar
    1. The document discusses the stability analysis of a nonlinear system using three methods: without phase portraits, with phase portraits, and Lyapunov stability theorem. 2. For the origin point M1(0,0), stability is analyzed using eigenvalues which show it is marginally stable. 3. The points M2(1,-i) and M3(1,i) are both found to be saddle points based on their eigenvalues. 4. Lyapunov analysis shows the system is unstable based on the derivative of the Lyapunov function V being positive.

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    Laboratory Exercise #4 Investigation of The Nonlinear Systems Stability

    Uploaded by

    Farabi Askar
    13 views5 pages
    1. The document discusses the stability analysis of a nonlinear system using three methods: without phase portraits, with phase portraits, and Lyapunov stability theorem. 2. For the origin point M1(0,0), stability is analyzed using eigenvalues which show it is marginally stable. 3. The points M2(1,-i) and M3(1,i) are both found to be saddle points based on their eigenvalues. 4. Lyapunov analysis shows the system is unstable based on the derivative of the Lyapunov function V being positive.

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    Laboratory work 4 Nonlinear theory of control systems

    Original Title

    Lab4NTAU

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    1. The document discusses the stability analysis of a nonlinear system using three methods: without phase portraits, with phase portraits, and Lyapunov stability theorem. 2. For the origin point M1(0,0), stability is analyzed using eigenvalues which show it is marginally stable. 3. The points M2(1,-i) and M3(1,i) are both found to be saddle points based on their eigenvalues. 4. Lyapunov analysis shows the system is unstable based on the derivative of the Lyapunov function V being positive.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Download as docx, pdf, or txt
    13 views5 pages

    Laboratory Exercise #4 Investigation of The Nonlinear Systems Stability

    Uploaded by

    Farabi Askar
    1. The document discusses the stability analysis of a nonlinear system using three methods: without phase portraits, with phase portraits, and Lyapunov stability theorem. 2. For the origin point M1(0,0), stability is analyzed using eigenvalues which show it is marginally stable. 3. The points M2(1,-i) and M3(1,i) are both found to be saddle points based on their eigenvalues. 4. Lyapunov analysis shows the system is unstable based on the derivative of the Lyapunov function V being positive.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Download as docx, pdf, or txt
    of 5

    Askar Farabi TNLCS Var 6

    Assignment

    Laboratory Exercise #4
    INVESTIGATION OF THE NONLINEAR SYSTEMS STABILITY

    Goals:
    1. Investigation of stability without drawing the phase portrait
    2. Investigation of stability with using the phase plane method
    3. Investigation of stability with using the Lyapunov stability theorem

    Part 1. Investigation of stability without drawing the phase portrait

     x1 (t )  f1 ( x1 , x2 )  a1 x12 (t )  a2 x 22 (t ),

     x2 (t )  f 2 ( x1 , x2 )  a3 x1 (t ) x2 (t )  a4 x2 (t ).
    ẋ1 (𝑡) = 𝑓1 (𝑥1 , 𝑥2 ) = 𝑎1 𝑥12 (𝑡) + 𝑎2 𝑥22 (𝑡)
    {
    ẋ2 (𝑡) = 𝑓2 (𝑥1 , 𝑥2 ) = 𝑎3 𝑥1 (𝑡)𝑥2 (𝑡) + 𝑎4 𝑥2 (𝑡)

    𝑎1 = −1; 𝑎2 = −1; 𝑎3 = 1; 𝑎4 = 1;

    ẋ (𝑡) = 𝑓1 (𝑥1 , 𝑥2 ) = −𝑥12 (𝑡) − 𝑥22 (𝑡)


    { 1
    ẋ2 (𝑡) = 𝑓2 (𝑥1 , 𝑥2 ) = 𝑥1 (𝑡)𝑥2 (𝑡) + 𝑥2 (𝑡)

    𝑓1 (𝑥1 , 𝑥2 ) = 0 −𝑥12 (𝑡) − 𝑥22 (𝑡) = 0


    { →{
    𝑓2 (𝑥1 , 𝑥2 ) = 0 𝑥1 (𝑡)𝑥2 (𝑡) + 𝑥2 (𝑡) = 0

    𝑀1 (0,0), 𝑀2 (1, −𝑖), 𝑀3 (1, 𝑖)

    ẏ1 = 𝑎11 𝑦1 + 𝑎12 𝑦2
    {
    ẏ2 = 𝑎21 𝑦1 + 𝑎22 𝑦2
    𝜕𝑓1 𝜕𝑓1
    𝑎11 𝑎12 𝜕𝑥1 𝜕𝑥2
    ẏ=Ay, A= [𝑎 𝑎22 ] = [ 𝜕𝑓2 𝜕𝑓2
    ]
    21
    𝜕𝑥1 𝜕𝑥2

    𝜕𝑓1 𝜕𝑓1
    𝑎11 = = −2𝑥10 ; 𝑎12 = = −2𝑥20 ;
    𝜕𝑥1 𝜕𝑥2

    𝜕𝑓2 𝜕𝑓2
    𝑎21 = = 𝑥20 ; 𝑎22 = = 𝑥10 + 1
    𝜕𝑥1 𝜕𝑥2

    Point 𝑀1 (0,0):
    𝑎11 𝑎12 0 0
    𝐴1 = [𝑎 𝑎22 ] |𝑀1 = [0 1]
    21

    Eigenvalues of the 𝐴1 matrix:


    λ1=0-marginally stable
    λ2=1-unstable node
    Askar Farabi TNLCS Var 6

    Point 𝑀2 (1, −𝑖):


    𝑎11 𝑎12 −2 2𝑖
    𝐴2 = [𝑎 𝑎22 ] |𝑀2 = [ −𝑖 2 ]
    21

    Eigenvalues of the 𝐴2 matrix: λ=± √6


    Conclusion: 𝑀2 (1, −𝑖) – sadle point
    Point 𝑀3 (1, 𝑖)
    𝑎11 𝑎12 −2 −2𝑖
    𝐴3 = [𝑎 𝑎22 ] |𝑀2 = [ 𝑖 ]
    21 2

    Eigenvalues of the 𝐴3 matrix: λ=± √6


    Conclusion: 𝑀3 (1, 𝑖) – sadle point
    Part 2. Investigation of stability with using the phase plane method
    function f=Eiler(t,x)
    f(1)=-x(1)^2-x(2)^2;
    f(2)=x(1)*x(2)+x(2);
    f=f';
    Point 𝑀1 (0,0):
    λ1=0-marginally stable

    Conclusion: M 1 - unstable if x1  0, x2  0

    Point 𝑀2 (1, −𝑖):


    Eigenvalues of the 𝐴2 matrix: λ=± √6
    Askar Farabi TNLCS Var 6

    Conclusion: 𝑀2 (1, −𝑖) – sadle point

    Point 𝑀3 (1, 𝑖)
    Eigenvalues of the 𝐴3 matrix: λ=± √6

    Conclusion: 𝑀3 (1, 𝑖) – sadle point


    Askar Farabi TNLCS Var 6
    Part 3. Investigation of stability using Lyapunov stability theorem

    𝑑𝑉
    = 2𝑥1 𝑥1̇ + 2 𝑥2 𝑥2̇ = 2𝑥1 3 + 4𝑥1 𝑥2 2 − 2𝑥2 2
    𝑑𝑡

    Figure 2 - 𝑉̇ (𝑥) > 0

    Conclusion: The (2) system is unstable by Lyapunov.


    P
    Part 4. Stability of rest points (x=0) in the linear approximation
    (Lyapunov’s linearization method)
    Investigate stability of rest points (𝑥1 = 0, 𝑥2 = 0) in the linear approximation:

    𝑥1̇ (𝑡) = 𝐴𝑥(𝑡) + 𝑔(𝑡), ||𝑔(𝑥)|| = 0, ||𝑥|| → 0

    where, 𝐴 – linear part,


    𝑔(𝑡)– nonlinear part.

    Step 1. Separate linear and nonlinear parts.

    𝑥̇1 (𝑡) = 𝑓1 (𝑥1 , 𝑥2 ) = 0 − 𝑥12 (𝑡) − 𝑥22 (𝑡),


    {
    𝑥̇2 (𝑡) = 𝑓2 (𝑥1 , 𝑥2 ) = 𝑥1 (𝑡)𝑥2 (𝑡) + 𝑥2 (𝑡).

    Step 2. Matrix form of system

    𝑥̇1 0 0 𝑥1 −𝑥 2 (𝑡) − 𝑥22 (𝑡)


    [ ]=[ ] [𝑥 ] + [ 1 ] = 𝐴𝑥(𝑡) + 𝑔(𝑥)
    𝑥̇2 0 1 2 𝑥1 (𝑡)𝑥2 (𝑡)
    0 0 −𝑥 2 (𝑡) − 𝑥22 (𝑡)
    𝐴=[ ] , 𝑔(𝑥) = [ 1 ]
    0 1 −𝑥1 (𝑡)𝑥2 (𝑡)

    Step 3. Proof ||𝑔(𝑥)|| = 0, ||𝑥|| → 0


    Askar Farabi TNLCS Var 6

    ||𝑔(𝑥)|| = √(−𝑥12 (𝑡) − 𝑥22 (𝑡))2 + (𝑥1 (𝑡)𝑥2 (𝑡))2 = 0, ||𝑥|| → 0


    Step 4. Eigenvalues of A:

    0 0
    𝐴=[ ] => 𝜆1 = 0, 𝜆2 = −1.
    0 1

    Conclusion: Point 𝒙𝟏 = 𝟎, 𝒙𝟐 = 𝟎 – additional research needed.

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