华南理工大学现代控制理论课件-3.pptVIP

* CDS 101: Lecture 3.1 Stability and Performance Richard M. Murray 13 October 2003 Goals: Describe different types of stability for an equilibrium point Explain the difference between local/global stability, and related concepts Describe performance measures for (controlled) systems, including transients and steady state response Reading: ?str?m and Murray, Analysis and Design of Feedback Systems, Ch 3 Review from Last Week Today: Stability and Performance Goal #1: Stability Check if closed loop response is stable Goal #2: Performance Look at ability to track changes in reference and reject disturbances Goal #3: Robustness (later) reference measuredoutput disturbance system input control law Sense Vehicle Speed Compute Control “Law” Actuate Gas Pedal function dxdt = f(t,x) dxdt= [ f1(x); f2(x); … fn(x); ]; Systems of Ordinary Differential Equations (ODEs) Systems of coupled nonlinear eqns (closed loop ? no inputs for now) Example: damped oscillator Component form Vector form function dxdt = f(t,x) dxdt= [ f1(x); f2(x); … fn(x); ]; MATLAB form 0 2 4 6 8 10 -1 0 1 time, sec x1, x2 ode45(‘dosc, [0 10], [1 0]); function timeinterval initialcondition Phase Portraits (2D systems only) Phase plane plots show 2D dynamics as vector fields stream functions Plot f(x) as a vector on the plane; stream lines follow the flow of the arrows -1 0 1 -1 -0.5 0 0.5 1 x 1 x 2 phaseplot(‘dosc’, ... [-1 1 10], [-1 1 10], ... boxgrid([-1 1 10], [-1 1 10])); -1 0 1 -1 -0.5 0 0.5 1 x 1 x 2 phaseplot(‘dosc’, ... [-1 1 10], [-1 1 10], ... boxgrid([-1 1 10], [-1 1 10])); -2? 0 2? -2 0 2 x1 x2 Equilibrium Points Equilibrium points represent stationary conditions for the dynamics Stability of Equilibrium Points An equilibrium point is: Asymptotically stable if all nearby initial conditions con-verge to the equilibrium point Equilibrium point is an attractor or sink Unstable if some initial conditions diverge from the equilibrium point