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EMG2410 Tutorial3

This document discusses linearization of nonlinear systems and stability analysis of nonlinear systems using Lyapunov's method. It provides examples of linearizing nonlinear equations around an operating point and calculating the error when using the linearized model. It also analyzes the stability of several nonlinear systems by choosing a Lyapunov function and showing that its time derivative is negative (semi-)definite, ensuring stability. Definitions of positive/negative (semi-)definite quadratic forms are also given.

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11 views

EMG2410 Tutorial3

This document discusses linearization of nonlinear systems and stability analysis of nonlinear systems using Lyapunov's method. It provides examples of linearizing nonlinear equations around an operating point and calculating the error when using the linearized model. It also analyzes the stability of several nonlinear systems by choosing a Lyapunov function and showing that its time derivative is negative (semi-)definite, ensuring stability. Definitions of positive/negative (semi-)definite quadratic forms are also given.

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DECENT DECENT MUSINAI
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© © All Rights Reserved
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Download as PDF, TXT or read online on Scribd
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EMG 2410 Control Engineering II

Tutorial 3

1. Consider a nonlinear system y(t) = u(t)3 . Linearize the system around uo = 3. Find the error
if the linearization is used to calculate the value of y when u = 2.5.
[Ans: y = 27u − 54, Error = 13.6%]

2. Linearize the nonlinear equation, z = y 2 + xy − 2y, in about x = 9, y = 5 . Find the error if the
linearization is used to calculate the value of z when x = 6, y = 10.
[Ans: z = 5x + 17y − 70, Error = 2.38% ]

3. Evaluate the stability of a nonlinear system described by

ẋ = −(x − y)(1 − x − y)

ẏ = x(2 + y).

[Ans: Select the Lyapunov function V = 12 x2 + 12 y 2 . Then V̇ = − x2 − x3 − 3xy . V̇ is negative




semi-definite if x2 − x3 − 3xy > 0 and hence the origin of the system is globally stable]

4. A nonlinear system is governed by

ẋ1 = −x1

ẋ2 = −x2 + 2x1 x22 .

Determine the stability of the system.

[Ans: Select V = x21 + x22 , V̇ = −2x21 − 2x22 (1 − 2x1 x2 ). V̇ is negative definite if 1 − 2x1 x2 >
0, ∀x ̸= 0. Thus Lyapunov’s criterion is satisfied and hence the origin of the system is asymp-
totically stable]

5. Determine the stability of a nonlinear system governed by

ẋ1 = −x1 − x2

ẋ2 = −x2 .

[Ans: V̇ = −2x21 − 2x1 x2 − 2x22 = −(x1 + x2 )2 − x21 − x22 < 0, ∀x ̸= 0, hence the origin is
globally asymptotically stable]

6. With the aid of a diagram, discuss how the following nonlinear control methods work:

(a) Gain scheduling,

(b) Adaptive control.

Definite Quadratic Forms

ˆ The quadratic form V = ⟨x, Ax⟩ is said to be positive definite if it is non-negative for all real
values of x and is zero only when x = 0. Example V (x) = x21 + x22 . It is positive except for x = 0

ˆ The quadratic form V = ⟨x, Ax⟩ is said to be positive semidefinite if it is non-negative but
can be zero when x ̸= 0. Example V (x) = (x1 + x2 )2 + x23 . V is positive except for x = 0 and
(x1 = −x2 , x3 = 0.
ˆ The quadratic form Q = ⟨x, Ax⟩ is said to be negative definite if it is negative for all real
values of x and is zero only when x = 0. Example V (x) = −(x21 + x22 + x23 ).

ˆ The quadratic form V = ⟨x, Ax⟩ is said to be negative semidefinite if it is negative but can
be zero when x ̸= 0. Example V (x) = −(x1 + x2 )2 − x21 + x22 . V is negative except for x = 0 and
(x1 = −x2 ).

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