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    Nonlinear Control Problem Set1

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    tetrix
    This document contains 7 problems related to analyzing the stability of nonlinear systems using Lyapunov stability theory. The problems involve determining stability of equilibria for systems such as a phase-locked loop, double integrator with output feedback, and an RLC circuit with a nonlinear resistor. One problem asks to design a control law to stabilize an origin for a 3D system. Another asks to prove stability of a boundary control scheme for a vibrating string.

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    Nonlinear Control Problem Set1

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    tetrix
    151 views3 pages
    This document contains 7 problems related to analyzing the stability of nonlinear systems using Lyapunov stability theory. The problems involve determining stability of equilibria for systems such as a phase-locked loop, double integrator with output feedback, and an RLC circuit with a nonlinear resistor. One problem asks to design a control law to stabilize an origin for a 3D system. Another asks to prove stability of a boundary control scheme for a vibrating string.

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    This document contains 7 problems related to analyzing the stability of nonlinear systems using Lyapunov stability theory. The problems involve determining stability of equilibria for systems such as a phase-locked loop, double integrator with output feedback, and an RLC circuit with a nonlinear resistor. One problem asks to design a control law to stabilize an origin for a 3D system. Another asks to prove stability of a boundary control scheme for a vibrating string.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    151 views3 pages

    Nonlinear Control Problem Set1

    Uploaded by

    tetrix
    This document contains 7 problems related to analyzing the stability of nonlinear systems using Lyapunov stability theory. The problems involve determining stability of equilibria for systems such as a phase-locked loop, double integrator with output feedback, and an RLC circuit with a nonlinear resistor. One problem asks to design a control law to stabilize an origin for a 3D system. Another asks to prove stability of a boundary control scheme for a vibrating string.

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    Attribution Non-Commercial (BY-NC)
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    Download as pdf or txt
    of 3

    E209A Analysis and Control of Nonlinear Systems Problem Set 6

    Professor C. Tomlin Department of Aeronautics and Astronautics, Stanford University, Winter 2007 Issued 2/22; Due 3/2

    Problem 1. Consider the system x1 x2 = x1 + x1 x2 2 = x2 + x3 2

    Using the function V = x2 + x2 , what does the Lyapunov Stability Theorem say about the stability of the 1 2 equilibrium at the origin? Problem 2: Phase-Locked Loop. A phase-locked loop in communication networks can be described by y (t) + (a + b cos y(t))y + c sin y(t) = 0 (1)

    Show that (0, 0) is a stable equilibrium point if a b 0. (HINT: Consider the Lyapunov function candidate V (x1 , x2 ) = c(1 cos x1 ) + x2 /2, where x1 = y, and x2 = y). 2 Problem 3. Consider a double integrator with nonlinear output feedback y = u u Use the function V (y, y) = y 2 /2 + stable equilibrium.
    y 0

    = k(y)
    k y (0)

    k()d to show that if k(0) = 0 and

    > 0 then the origin is a locally

    Problem 4: Control. Consider the system x1 x2 x3 = a(x2 x1 ) = bx1 x2 x1 x3 + u = x1 + x1 x2 2ax3

    Where a > 0 and b > 0 are constants. Using Lyapunov theory, can you design a control law u(x) which globally stabilizes the origin? Problem 5: RLC circuit with passive nonlinear resistor. Consider the series RLC circuit shown in Figure 1, with L = C = 1 and a nonlinear resistor with voltage-current characteristic given by a nonlinear

    + yC=1 L=1

    f(x)

    Figure 1: RLC circuit for Problem 2. 1

    function v = f (i). Now denote the current through the circuit as x, and the voltage across the capacitance as y. The state equations may therefore be written as: x = y f (x) y = x (2) (3)

    We can represent the stored energy in the circuit as a function W (x, y) = (x2 + y 2 )/2. Show (by studying the rate of change of the stored energy) that if the resistor is strictly passive, meaning that x f (x) 0 for all x (with x f (x) = 0 only when x = 0), then the equations admit only one stable equilibrium. Problem 6. Consider the nonlinear second order system x1 x2 = x2 + x1 (x2 + x2 ) sin(x2 + x2 ) 1 2 1 2 = x1 + x2 (x2 1 + x2 ) sin(x2 2 1 + x2 ) 2 (4) (5)

    Show that the linearization is inconclusive to determine stability of the origin. Use the method of Lyapunov and your creative instincts to pick a candidate Lyapunov function v(x1 , x2 ), and use it to study the stability of the origin between = 1 and = 1. Problem 7: Proving Stability of a Boundary control scheme. The equation of motion of a linear

    equilibrium position: W(x,t)=0 W(x,t)

    u(t) x=1 (free end)

    x
    x=0 (fixed end)

    Figure 2: Boundary control stabilization of a vibrating string. frictionless vibrating string of length 1 is given by the following partial dierential equation: m 2 W (x, t) 2 W (x, t) T =0 2 t x2 (6)

    where W (x, t) denotes the displacement of the string at location x at time t, with x (0, 1), t 0. The quantities m and T are the mass per unit length of the string and the tension in the string, respectively. Let the string be xed at x = 0 as shown in Figure 2. Thus, W (0, t) = 0 for all t 0. Let a vertical force u() be applied to the free end of the string at x = 1. The balance of the forces in the vertical direction (at x = 1) yields: W (x, t) u(t) = T (7) x x=1 for all t 0. This means that whatever force u() is applied, equation (7) always has to be true. The energy of the string at time t is E(t) = 1 2
    1

    m
    0

    W (x, t) t

    dx +

    1 2

    T
    0

    W (x, t) x

    dx

    (8)

    which consists of the kinetic energy (rst integral in above) and the strain energy (second integral in the above). Show that if the following boundary control u(t) = k W (x, t) t 2 (9)
    x=1

    is applied, where k > 0, then E(t) 0 for all t 0. (HINT: Integration by parts will come in handy here:
    b a

    udv = uv|b a

    b a

    vdu.)

    (Remarks: The nature of this control law is that of velocity feedback, which generates damping in an inertia system. It can be shown that the string can be stabilized to its equilibrium position by the boundary control. Also, E(t) 0 as t .)

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