Material: Glad & Ljung Ch. 12.2 Khalil Ch. 4.1-4.3 Lecture Notes

Lecture 4 Lyapunov Stability
Material
Glad & Ljung Ch. 12.2
Khalil Ch. 4.1-4.3
Lecture notes
Todays Goal
To be able to
prove local and global stability of an equilibrium point using

Lyapunovs method
show stability of a set (e.g., an equilibrium, or a limit cycle)

using La Salles invariant set theorem.
Alexandr Mihailovich Lyapunov (18571918)
Master thesis On the stability of ellipsoidal forms of equilibrium

of rotating fluids, St. Petersburg University, 1884.
Doctoral thesis The general problem of the stability of motion,
1892.
Main idea
Lyapunov formalized the idea:

If the total energy is dissipated, then the system must be stable.
Main benefit: By looking at how an energy-like function V (a so

called Lyapunov function) changes over time, we might
conclude that a system is stable or asymptotically stable
without solving the nonlinear differential equation.
Main question: How to find a Lyapunov function?
Examples
Start with a Lyapunov candidate V to measure e.g.,
"size"1 of state and/or output error,
"size" of deviation from true parameters,
energy difference from desired equilibrium,
weighted combination of above
...
Example of common choice in adaptive control

V =

1 2
e2 + b e
b2
e + aa
2
(here weighted sum of output error and parameter errors)
Often a magnitude measure or (squared) norm like p ep22 , ...
Analysis: Check if V is decreasing with time
Continuous time:
Discrete time:
dV
<0
dt
V ( k + 1) V ( k) < 0
Synthesis: Choose, e.g., control law and/or parameter update

law to satisfy V 0
dV
ea
e + be
be
b=
= ee + a a
dt
eb
ea
e + be
=e
x(a e
xa
x+e
bu) + a a
be
b = ...
e = a .
If a is constant and a = a a then a
d a
dV
Choose update law
in a "good way" to influence
.
dt
dt
(more on this later...)
A Motivating Example
m
m x = b x p x p k0 x k1 x3
| {z } | {z }
damping
spring
b, k0 , k1 > 0
Total energy = kinetic + pot. energy: V =
mv2
2
Rx
0
V ( x, x ) = m x 2 /2 + k0 x2 /2 + k1 x4 /4 > 0,
Fsprin ds [
V (0, 0) = 0
d
V ( x, x ) = m x x + k0 x x + k1 x3 x = {plug in system dynamics 2 }
dt
= bp x p3 < 0, for x ,= 0
What does this mean?

2
Also referred to evaluate along system trajectories.
Stability Definitions
An equilibrium point x of x = f ( x) (i.e., f ( x ) = 0) is
locally stable, if for every R > 0 there exists r > 0, such

that
q x(0) x q < r
t0
locally asymptotically stable, if locally stable and

q x(0) x q < r
q x(t) x q < R,
lim x(t) = x
globally asymptotically stable, if asymptotically stable for

all x(0) Rn .
Lyapunov Theorem for Local Stability

Theorem Let x = f ( x), f ( x ) = 0 where x is in the interior of
Rn . Assume that V : R is a C 1 function. If
(1) V ( x ) = 0
(2) V ( x) > 0, for all x , x ,= x
(3) V ( x) 0 along all trajectories of the system in
=[
x is locally stable.
Furthermore, if also
(4) V ( x) < 0 for all x , x ,= x
=[
x is locally asymptotically stable.
Lyapunov Functions (( Energy Functions)

A function V that fulfills (1)(3) is called a Lyapunov function.
Condition (3) means that V is non-increasing along all
trajectories in :
X V
V
x =
fi ( x) 0
V ( x) =
x
xi
i
where
V
=
x
V V
V
,
,...
x1 x2
xn
V
x2
x1
level sets where V = const.
Conservation and Dissipation

Conservation of energy: V ( x) = Vx f ( x) = 0, i.e., the vector
field f ( x) is everywhere orthogonal to the normal Vx to the
level surface V ( x) = c.
Example: Total energy of a lossless mechanical system or total
fluid in a closed system.
Dissipation of energy: V ( x) = Vx f ( x) 0, i.e., the vector
field f ( x) and the normal Vx to the level surface { z : V ( z) = c}
make an obtuse angle (Sw. trubbig vinkel).
Example: Total energy of a mechanical system with damping or
total fluid in a system that leaks.
Geometric interpretation
gradient
V
x
x(t)
V ( x)=constant
f ( x)
Vector field points into sublevel sets

Trajectories can only go to lower values of V ( x)
Boundedness:
For any trajectory x(t)

V ( x(t)) = V ( x(0)) +
V ( x( ))d V ( x(0))
which means that the whole trajectory lies in the set

{ z p V ( z) V ( x(0))}
For stability it is thus important that the sublevel sets

{ z p V ( z) c} bounded c 0 Z[ V ( x) as pp xpp .
2 min exercisePendulum
Show that the origin is locally stable for a mathematical
pendulum.
x 1 = x2 ,
x 2 = sin x1
{
Use as a Lyapunov function candidate

V ( x) = (1 cos x1 ){ + {2 x22 /2
4
3
2
1
0
10
2
0
x1
0
10 2
x2
ExamplePendulum
(1) V (0) = 0
(2) V ( x) > 0 for 2 < x1 < 2 and ( x1 , x2 ) ,= 0
(3)
V ( x) = x 1 sin x1 { + {2 x2 x 2 = 0,
for all x
Hence, x = 0 is locally stable.

Note that x = 0 is not asymptotically stable, because V ( x) = 0
and not < 0 for all x ,= 0.
Positive Definite Matrices

Definition: Symmetric matrix M = M T is
positive definite ( M > 0)
positive semidefinite ( M 0) if
if
x T M x > 0, x ,= 0
x T M x 0, x
Lemma:
M = MT > 0
M = MT 0
Z[
Z[
i ( M ) > 0, i
i ( M ) 0, i
M = MT > 0
V ( x ) := x T M x
W
V (0) = 0 ,
V ( x) > 0, x ,= 0
V ( x) candidate Lyapunov function
More matrix results
for symmetric matrix M = M T
min ( M )q xq2 xT M x max ( M )q xq2 ,

Proof idea: factorize M = U U T , unitary U (i.e.,
pp U xpp = pp xpp x), = diag( 1 , . . . , n )
for any matrix M

q M xq
max ( M T M )q xq ,
Example- Lyapunov function for linear system

1 4
x1
x = Ax =
0 3 x2
(1)
Eigenvalues of A : {1, 3} [ (global) asymptotic stability.

Find a quadratic Lyapunov function for the system (1):

p11 p12 x1

T
, P = PT > 0
V ( x) = x Px = x1 x2
p12 p22 x2
Take any Q = Q T > 0 , say Q = I2$2 . Solve AT P + PA = Q.
Example contd
AT P + PA = I

1 0
p11
4 3 p12
2p11
4p12 + 4p11

p12
p
+ 11
p22
p12

p12 1 4
=
p22
0 3

4p12 + 4p11
1 0
=
8p12 6p22
0 1
Solving for p11 , p12 and p22 gives

2p11 = 1
4p12 + 4p11 = 0
8p12 6p22 = 1
p
=[ 11
p12

p12
1/2 1/2
=
>0
p22
1/2 5/6
(2)
x1 = x1 + 4 x2
x2 = 3 x2
x12+x228 = 0
x2
4
4
0
x1
Phase plot showing that

0.5 0

x1
1 2
2
V = 2 ( x1 + x2 ) = x1 x2
does NOT work.
0 0.5 x2
x1 = x1 + 4 x2
x2 = 3 x2
(1/2 x +1/2 x ) x +(1/2 x +5/6 x ) x 7 = 0

1
4
4
0
x
Phase plot with level curves xT Px = c for P found in example.
Lyapunov Stability for Linear Systems

Linear system: x = Ax
Lyapunov equation: Let Q = Q T > 0. Solve
PA + AT P = Q
with respect to the symmetric matrix P.

Lyapunov function: V ( x) = xT Px, [
V ( x) = x T P x + x T Px = x T ( PA + AT P) x = x T Qx < 0
Asymptotic Stability: If P = PT > 0, then the Lyapunov

Stability Theorem implies (local=global) asymptotic stability,
hence the eigenvalues of A must satisfy Re k( A) < 0, k
Converse Theorem for Linear Systems
If Re k( A) < 0 k, then for every Q = Q T > 0 there exists

P = PT > 0 such that PA + AT P = Q
Z
T
eA t QeAt dt. Then
Proof: Choose P =
0
AT P + PA =
lim
Z t
h

T
T
AT eA QeA + eA Q AeA d
lim eA QeA
= Q
it
Interpretation
Assume x = Ax, x(0) = z. Then

Z
Z
T
T
x (t) Qx(t)dt = z
0
AT t

Qe dt z = zT Pz
At
Thus V ( z) = zT Pz is the cost-to-go from z (with no input) and

integral quadratic cost function with weighting matrix Q.
Lyapunovs Linearization Method
Recall from Lecture 2:

Theorem Consider
x = f ( x)
Assume that f (0) = 0. Linearization

x = Ax + ( x) ,
pp( x)pp = o(pp xpp) as x 0 .
(1) Re k ( A) < 0, k
x = 0 locally asympt. stable
(2) k : Re k ( A) > 0
x = 0 unstable
Proof of (1) in Lyapunovs Linearization Method

Put V ( x) := xT Px. Then, V (0) = 0, V ( x) > 0 x ,= 0, and
V ( x) = x T P f ( x) + f T ( x) Px
= xT P[ Ax + ( x)] + [ xT AT + T ( x)] Px
= xT ( PA + AT P) x + 2xT P( x) = xT Qx + 2xT P( x)
x T Qx min ( Q)q xq2
and for all > 0 there exists r > 0 such that

q( x)q < q xq,
q xq < r
Thus, choosing sufficiently small gives

V ( x) min ( Q) 2 max ( P) q xq2 < 0
Lyapunov Theorem for Global Asymptotic Stability
Theorem Let x = f ( x) and f ( x ) = 0.

If there exists a C 1 function V : Rn R such that
(1) V ( x ) = 0
(2) V ( x) > 0, for all x ,= x
(3) V ( x) < 0 for all x ,= x
(4) V ( x) as q xq
then x is a globally asymptotically stable equilibrium.
Radial Unboundedness is Necessary

If the condition V ( x) as q xq is not fulfilled, then
global stability cannot be guaranteed.
Example Assume V ( x) = x12 /(1 + x12 ) + x22 is a Lyapunov
function for a system. Can have q xq even if V ( x) < 0.
Contour plot V ( x) = C:
2
Example [Khalil]:
1.5
6x1
+ 2x2
(1 + x12 )2
2( x1 + x2 )
x 2 =
(1 + x12 )2
x 1 =
x2
0.5
0.5
1.5
2
10
x1
0
10
Somewhat Stronger Assumptions
Theorem: Let x = f ( x) and f ( x ) = 0. If there exists a C 1

function V : Rn R such that
(1) V ( x ) = 0
(2) V ( x) > 0 for all x ,= x
(3) V ( x) V ( x) for all x
(4) V ( x) as q xq
then x is globally exponentially stable.
Proof Idea
Assume x(t) ,= 0 ( otherwise we have x( ) = 0 for all > t).

Then
V ( x)

V ( x)
Integrating from 0 to t gives
log V ( x(t)) log V ( x(0)) t [ V ( x(t)) e t V ( x(0))
Hence, V ( x(t)) 0, t .
Using the properties of V it follows that x(t) 0, t .
Invariant Sets
Definition: A set M is called invariant if for the system

x = f ( x),
x(0) M implies that x(t) M for all t 0.
x(t)
x(0)
M
LaSalles Invariant Set Theorem

Theorem Let Rn compact invariant set for x = f ( x).
Let V : R be a C 1 function such that V ( x) 0, x ,
E := { x : V ( x) = 0}, M :=largest invariant subset of E
=[
x(0) , x(t) approaches M as t +
E
V ( x)
M
Note that V must not be a positive definite function in this case.
Special Case: Global Stability of Equilibrium
Theorem: Let x = f ( x) and f (0) = 0. If there exists a C 1

function V : Rn R such that
(1) V (0) = 0, V ( x) > 0 for all x ,= 0
(2) V ( x) 0 for all x
(3) V ( x) as q xq
(4) The only solution of x = f ( x), V ( x) = 0 is x(t) = 0 t
=[
x = 0 is globally asymptotically stable.
A Motivating Example (contd)
V ( x) = (2m x 2 + 2k0 x2 + k1 x4 )/4 > 0,
V ( x) = bp x p3
V (0, 0) = 0
Assume that there is a trajectory with x (t) = 0, x(t) ,= 0. Then

d
k0
k1 3
x (t) = x(t)
x (t) ,= 0,
dt
m
m
which means that x (t) can not stay constant.

Hence, V ( x) = 0 Z[ x(t) " 0, and LaSalles theorem gives
global asymptotic stability.
ExampleStable Limit Cycle

Show that M = { x : q xq = 1} is a asymptotically stable limit
cycle for (almost globally, except for starting at x=0):
x 1 = x1 x2 x1 ( x12 + x22 )
x 2 = x1 + x2 x2 ( x12 + x22 )
Let V ( x) = ( x12 + x22 1)2 .

d
dV
= 2( x12 + x22 1) ( x12 + x22 1)
dt
dt
= 2( x12 + x22 1)2 ( x12 + x22 ) 0
= {0 < q xq R} is invariant for R = 1.
for x
ExampleStable Limit Cycle

E = { x : V ( x) = 0} = { x : q xq = 1}
M = E is an invariant set, because
d
V = 2( x12 + x22 1)( x12 + x22 ) = 0
dt
for x M
We have shown that M is a asymtotically stable limit cycle

(globally stable in R {0})
A Motivating Example (revisited)
V ( x, x ) = (2m x 2 + 2k0 x2 + k1 x4 )/4 > 0,
V (0, 0) = 0
V ( x, x ) = bp x p3 gives E = {( x, x ) : x = 0}.
Assume there exists ( x,

x ) M such that x (t0 ) ,= 0. Then
m x (t0 ) = k0 x (t0 ) k1 x 3 (t0 ) ,= 0
so x (t0 +) ,= 0 so the trajectory will immediately leave M . A

contradiction to that M is invariant.
Hence, M = {(0, 0)} so the origin is asymptotically stable.
Adaptive Noise Cancellation by Lyapunov Design

u
b
s+ a
b
b
s+b
a
b
x
e
+ x
x + ax = bu
b
bb
x + a
x=b
bu
e= aa
b, e
Introduce e
x=xb
x, a
b= bb
b.
Want to design adaptation law so that e

x0
Let us try the Lyapunov function

1 2
e2 + be
b2 )
(e
x + aa
2
ea
e + be
be
b=
V = e
xe
x + a a
V =
eb
ea
e + be
=e
x(a e
xa
x+e
bu) + a a
be
b = a e
x2
where the last equality follows if we choose

1
e
e = a
b =
xb
x
a
Invariant set: e
x = 0.
This proves that e

x 0.
e
b = b
b= e
xu
b
e and e
(The parameters a
b do not necessarily converge: u " 0.)
Demonstration if time permits
Results
3000
2500
2000
1500
1000
500
0
10
20
30
time [s]
40
50
60
40
50
60
3000
2500
2000
1500
1000
500
0
10
20
30
time [s]
Estimation of parameters starts at t=10 s.
Results
0.8
0.6
x x
0.4
0.2
0.2
0.4
0.6
0.8
10
20
30
time [s]
40
50
60
Estimation of parameters starts at t=10 s.
Next Lecture
Stability analysis using input-output (frequency) methods

Material: Glad & Ljung Ch. 12.2 Khalil Ch. 4.1-4.3 Lecture Notes

Uploaded by

Copyright:

Available Formats

Material: Glad & Ljung Ch. 12.2 Khalil Ch. 4.1-4.3 Lecture Notes

Uploaded by

Document Information

Original Description:

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Material: Glad & Ljung Ch. 12.2 Khalil Ch. 4.1-4.3 Lecture Notes

Uploaded by

Copyright:

Available Formats

Lecture 4 Lyapunov Stability

Glad & Ljung Ch. 12.2

Khalil Ch. 4.1-4.3

prove local and global stability of an equilibrium point using

show stability of a set (e.g., an equilibrium, or a limit cycle)

Alexandr Mihailovich Lyapunov (18571918)

Master thesis On the stability of ellipsoidal forms of equilibrium

Lyapunov formalized the idea:

Main benefit: By looking at how an energy-like function V (a so

Main question: How to find a Lyapunov function?

"size"1 of state and/or output error,

"size" of deviation from true parameters,

energy difference from desired equilibrium,

weighted combination of above

Example of common choice in adaptive control

(here weighted sum of output error and parameter errors)

Often a magnitude measure or (squared) norm like p ep22 , ...

Analysis: Check if V is decreasing with time

Synthesis: Choose, e.g., control law and/or parameter update

(more on this later...)

Total energy = kinetic + pot. energy: V =

What does this mean?

Also referred to evaluate along system trajectories.

An equilibrium point x of x = f ( x) (i.e., f ( x ) = 0) is

locally stable, if for every R > 0 there exists r > 0, such

locally asymptotically stable, if locally stable and

globally asymptotically stable, if asymptotically stable for

Lyapunov Theorem for Local Stability

x is locally asymptotically stable.

Lyapunov Functions (( Energy Functions)

Conservation and Dissipation

Vector field points into sublevel sets

For any trajectory x(t)

which means that the whole trajectory lies in the set

For stability it is thus important that the sublevel sets

Use as a Lyapunov function candidate

Hence, x = 0 is locally stable.

Positive Definite Matrices

positive definite ( M > 0)

V ( x) candidate Lyapunov function

More matrix results

for symmetric matrix M = M T

min ( M )q xq2 xT M x max ( M )q xq2 ,

for any matrix M

Example- Lyapunov function for linear system

Eigenvalues of A : {1, 3} [ (global) asymptotic stability.

Solving for p11 , p12 and p22 gives

Phase plot showing that 

(1/2 x +1/2 x ) x +(1/2 x +5/6 x ) x 7 = 0

Phase plot with level curves xT Px = c for P found in example.

Lyapunov Stability for Linear Systems

with respect to the symmetric matrix P.

Asymptotic Stability: If P = PT > 0, then the Lyapunov

Converse Theorem for Linear Systems

If Re k( A) < 0 k, then for every Q = Q T > 0 there exists

Assume x = Ax, x(0) = z. Then

Thus V ( z) = zT Pz is the cost-to-go from z (with no input) and

Lyapunovs Linearization Method

Phase plot showing that