电子社现代控制理论基础（英文版）（第2版）mooc课件5-3.pptx

L5.3 Second Method of Lyapunov( the direct method);Examples;is a symmetric matrix.; The leading principal minors is formed by the square array within matrix that contains .;Examples;Lyapunov’s direct method can be viewed as a generalized energy method. The energy of a system is a quadratic function of the state variables. For example,;If the time rate of change of the energy is always negative, then the energy will be continually decreasing and will eventually approach zero. ;Choose;The energy of the system is ;Lyapunov’s direct method makes use of a Lyapunov function . Which is a positive definite scalar function. This scalar function of the state may be thought of as a generalized energy. In many problems, the energy function can serve as a Lyapunov function. However, the energy function may not be found for most real systems. ;The origin is assumed to be an equilibrium point, that is . The stability of this equilibrium point can be investigated by means of the following theorems.;Theorem 5.3;A paraboloid surface;Asymptotically stable;We know that the eigenvalues are ;Let and . Obviously the origin is the unique equilibrium state.;Select a Lyapunov function;Select a Lyapunov function;There is no one unique Lyapunov function for a given system. The inability to find a suitable Lyapunov function does not prove instability. If a system is stable in one of the sense mentioned, it is ensured that an appropriate Lyapunov function does exist. Much ingenuity may be required to find it, however.;Example;Example