现代控制理论Chapter4-Stability-of-Linear-system.pptVIP

Modern Control Theory 沈阳航空航天大学　自动化学院 review Chapter 1 Mathematical model Chapter 2 Time response Chapter 3 Qualitative analysis Chapter 4 Stability of Linear system The outline 4-1 Introduction 4-2The Stability and The First Method 4-3The Second Method LTIS Controllability and observability –two important qualitative properties. Now introduce another qualitative property—stability. 4-1 Introduction The roots describing the dynamic characteristics of the dynamic system locates in left part of the root plane Stability Criterion Nyquist stability criterion, Routh stability criterion, etc. time-varying systems and nonlinear system Lyapunov stability proposed by Russian mathematician Lyapunov is an important method to analyze the stability of system Lyapunov method the first method the second method The first method The first method as approximate method is to solve the differential equations of systems, and to determine the stability of the system according to the nature of solutions 。 对于非线性系统，在工作点附近的一定范围内，可以用线性化了的微方程式来近似地加以描述。如果线性化特征方程式的根全都是负实数根，或者是具有负实部的复根，则该系统在工作点附近是稳定的，否则是不稳定的。 The second method The second method is called direct method, and the basic idea is to analyaze energy changes in the stability of the system. If the energy stored in the motion process gradually reduce, the system will be stable; the other hand, if the system continue to absorb energy from the outside world the system will not be able to stable. Stability refers to the movement of the system in equilibrium disturbed. 4-2 The Stability and the First Method Homogeneous state equation The system is stable if If exist Then the system is stable --(Euclidian)norm The system is stable according to Lyapunov method 。 Equilibrium state ，if If exist Then system is Asymptotically stable Asymptotically stable --(Euclidian)norm。 the state equation Theorem For LTIS, the necessary and sufficient condition of stablility is that the eig