杭州电子科技大学现代控制理论基础课件第四章 控制系统的稳定性（1）.ppt

Modern Control Theory Lecture 11 Modern Control Theory Letures Notes Coryrighr@Xiaodong zhao Homework #4 4-2, 4-6, 4-7, 4-8, 4-10 Due date: Jun. 9th Chapter 4 Stability of Control System 4.1 Lyapunov Stability 4.1.1 equilibrium state LTI system: Nonlinear system: May have many equilibrium state. For example: 4.1.2 Concept of norm Definition: Distance of vectors: Geometric meaning: 4.1.3 Definition of Lyapunov Stability 1. Lyapunov Stability Definition: Geometric meaning: Stable region: 2. Classical Stability Definition: Geometric meaning: Global asymptotically stable: 3. Instability Definition: Geometric meaning: Instable region: Global instable Local instable: may go to another stable equilibrium point 4.2 Lyapunov Stability Theory (Second Method) 4.2.1 Quadratic function 1. Definition Matrix representation of quadratic form Properties of quadratic form: Linear transform does not change the symmetric property and rank of their matrices. Any quadratic form can be translated into standard form via a non-singular linear transform. Standard form is not unique, it depends on the non-singular linear transform. Let be real and symmetric, there exists orthogonal matrix such that Sign of Sylvester criterion for quadratic form 4.2.2 Lyapunov second method Lyapunov function: Criterion for asymptotically stability Theorem 4-1: Example 4-3 Example 4-4 Theorem 4-2 Example 4-4 (continue) Criterion for Lyapunov stability Theorem 4-3 Example 4-5 Criterion for instability Theorem 4-4 Theorem 4-5 Example 4-6 Example 4-7 * * *