电子社现代控制理论基础（英文版）（第2版）mooc课件5-2.pptx

[Theorem5-1] Every equilibrium state of is stable in the sense of Lyapunov if and only if all the eigenvalues of A have negative real parts. Therefore can be diagonalized by introducing a linear transformation L5.2 First Method of Lyapunov( the indirect method)Eigenvalue Criterion for LTI systems Suppose has distinct eigenvaluesProof: when , we have for any given .So the system is asymptotically stable.L5.2 First Method of Lyapunov( the indirect method)Eigenvalue Criterion for LTI systems When the matrix has repeated eigenvalues, the response modes, such as and etc. will be added into the expression of . In this case, however, the stability conclusion is not changed.L5.2 First Method of Lyapunov( the indirect method)Eigenvalue Criterion for LTI systems L5.2 First Method of Lyapunov( the indirect method)Eigenvalue Criterion for LTI systemsExampleComment on the stability of the constant coefficient systems.Transfer function:State-space representation:The eigenvalue are . Both eigenvalues are negative for any positive value of and then the system is asymptotically stable. For , the system is unstable.This assumes that is a positive constant. If , then and the system is stable i.s.L. L5.2 First Method of Lyapunov( the indirect method)Eigenvalue Criterion for LTI systemsExampleFor LTI system , let those eigenvalues of be , the resulting conditions are summarized in the following Table. L5.2 First Method of Lyapunov( the indirect method)Eigenvalue Criterion for LTI systemsStable i.s.L.If for any simple root or for any repeated rootAsymptotically stableif for all rootUnstableIf for any simple root or for any repeated rootAAL5.2 First Method of Lyapunov( the indirect method)Eigenvalue Crit