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⾮⾮线线性性系系统统理理论论
IntroductionofLyapunov-BasedControl
1AnExampleofNonlinearSystems
LinearSystem˙x=AxBu
y=Cx
(1)ithasthesuperpositionproperty.Besides,thestabilityofthelinearsystemcompletelydependsonitsparameters.
NonlinearSystem˙x=f(x,u)
y=g(x)
(2)
superpositiondoesnotholdfornonlinearsystems,andthestabilityofanonlinearsystemdependsonbothsystem
parametersandinitialconditions.
Example:Thedynamicmodelfora2-DOFoverheadcranesystem(seeFigure??)canbepresentedasfollows
M(q)¨qVm(q,˙q)˙qG(q)=u(3)
q=[x(t)θ(t)]T(4)wherex(t)∈R1denotesthegantryposition,θ(t)∈R1denotesthepayloadanglewithrespecttothevertical,and
M(q)∈R2×2,Vm(q,˙q)∈R2×2,G(q)∈R2,andu(t)∈R2arede?nedasfollows
M(q)=mcmp?mpLcosθ
?mpLcosθmpL2,
Vm(q,˙q)=0mpLsinθ˙θ
00,
G(q)=0mpgLsinθT,u(t)=F0T,(5)
wheremc,mp∈R1representthegantrymassandthepayloadmass,respectively,L∈R1representsthelengthoftherodtothe
payload,g∈R1representsthegravitycoe?cient,andF(t)∈R1representsthecontrolforceinputactingonthegantry(see
Figure??).
2CommonNonlinearSystemsBehaviors
2.1MultipleEquilibriumPoints
Forthesystem
˙x=f(x)(6)
1
Figure1:
Toobtainequilibriumpoints,solvethefollowingequation
f(xs)=0
ifithasmultiplesolutions,thenthesystemhasmultipleequilibriumpoints.
Example:
˙x=?xx2(7)
?xx2=0=?xs=1orxs=0
hastooequilibriumpoints:xs=1andxs=0.
Question:Whichoneisstable?Why?
Rewritetheequationasfollows
˙x=x(x?1)
thenifx1,˙x0,xincreaseswithtime.Forthecaseofx1,(x?1)0,thus
˙x0,for1x0
˙x0,forx0
therefore,xs=1isunstableandxs=0isstable.
Wecansolvethesystemequationtoobtaintheresponseasfollows
x(t)=
x0e?t
1?x0x0e?t
=1?
1?x0
1?x0x0e?t
Fromthisformula,itcanbeseenthatifx01,thedenominator1?x0x0e?t0,thus
lim
t→∞
x(t)=0.
Theresponseofx0=0.99andx0=1.0001isdemonstratedinFigure??.
2
Fi
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