电子社现代控制理论基础（英文版）（第2版）mooc课件5-1.pptx

L5 Stability and Lyapunov methods OutlineL 5.1 Equilibrium point and Lyapunov stability definitionL 5.2 First Method of Lyapunov(the indirect method)L 5.3 Second Method of Lyapunov(the direct method)L 5.4 Application of the Lyapunov Method to LTI Systems(Lyapunov Equation)L5 Stability and Lyapunov methods The concept of stability is extremely important because almost every workable system is designed to be stable. If a system is not stable, it is usually of no use in practice.The Lyapunov method provides a generalized approach to stability that is needed in the analysis and synthesis of modern control systems, such as the optimal control systems and self-adaptive control systems, which usually are nonlinear and/or time-varying.Fig.1L5.1 Equilibrium point and stability definitionEquilibrium PointperturbationConsider the ball which is free to roll on the surface shown in Fig.1. The ball could be made to rest at point A,E,F, and G and anywhere between points B and D, such as at C. Each of these points is an equilibrium point of the system.A particular point is an equilibrium point of a dynamical system if for any and all in the absence of inputs or disturbances.L5.1 Equilibrium point and stability definitionEquilibrium PointThe ball returns toThe ball remains close toThe ball diverges from L5.1 Equilibrium point and stability definitionEquilibrium PointStability deals with the following questions. If at time the state is perturbed from its equilibrium point ,does the state return toor remain close toL5.1 Equilibrium point and stability definitionStability Definitionor diverge from it?All of the definitions of stability in this course deal with the behavior of the state vector relative to an equilibrium state.The origin is a stable i.s.L equilibrium point if for any given value there exists a number such that if then the resultant motion satisfies for all