Tools for Analysis of Nonlinear

Systems: Lyapunov’s Methods

Stanisław H. Żak
School of Electrical and
Computer Engineering
ECE 675
Spring 2008
1
Outline
‡ Notation using simple examples of
dynamical system models
‡ Objective of analysis of a nonlinear
system
‡ Equilibrium points
‡ Stability
‡ Lyapunov functions

‡ Barbalat’s lemma
2
A Spring-Mass Mechanical System

x---displacement of the mass from

the rest position
3
Modeling the Mass-Spring System
‡ Assume a linear mass, where k is the
linear spring constant
‡ Apply Newton’s law to obtain

‡ Define state variables: x1=x and x2=dx/dt

‡ The model in state-space format:

4
Analysis of the Spring-Mass System
Model
‡ The spring-mass system model is linear
time-invariant (LTI)
‡ Representing the LTI system in standard
state-space format

5
Modeling of the Simple Pendulum
The simple pendulum

6
The Simple Pendulum Model
‡ Apply Newton’s second law

Jθ = − mgl sin θ
where J is the moment of inertia,

J = ml 2

‡ Combining gives
g
θ = − sin θ
l 7
State-Space Model of the Simple
Pendulum
‡ Represent the second-order differential
equation as an equivalent system of two
first-order differential equations
‡ First define state variables,
x1=θ and x2=dθ/dt
‡ Use the above to obtain state–space
model (nonlinear, time invariant)

8
Objectives of Analysis of Nonlinear Systems
‡ Similar to the objectives pursued when
investigating complex linear systems
‡ Not interested in detailed solutions, rather
one seeks to characterize the system
behavior---equilibrium points and their
stability properties

" A device needed for nonlinear system

analysis summarizing the system
behavior, suppressing detail
9
Summarizing Function (D.G.
Luenberger, 1979)
‡A function of the system state
vector
‡ As the system evolves in time,
the summarizing function takes
on various values conveying
some information about the
system
10
Summarizing Function as a First-Order
Differential Equation

‡ The behavior of the summarizing

function describes a first-order
differential equation
‡ Analysis of this first-order
differential equation in some
sense a summary analysis of the
underlying system
11
Dynamical System Models
‡ Linear time-invariant (LTI) system model
x = Ax , A ∈ ℜn×n
‡ Nonlinear system model

⎡ x1 ⎤ ⎡ f1 (t , x1 ,… , xn )⎤
⎢ x ⎥ ⎢ f (t , x ,… , x )⎥
⎢ 2⎥ = ⎢ 2 1 n ⎥

⎢ ⎥ ⎢ ⎥
⎢ ⎥ ⎢ ⎥
⎣ n⎦ ⎣ n
x f (t , x1 ,… , x )
n ⎦

‡ Shorthand notation of the above model

x = f (t , x ), x ∈ ℜ n
12
More Notation
‡ System model

x (t ) = f (t , x (t )), x (t0 ) = x0
‡ Solution
x (t ) = x (t ; t0 , x0 )
‡ Example: LTI model,
x = Ax , x (0) = x0
‡ Solution of the LTI modeling equation

x (t ) = e x0
At
13
Equilibrium Point
A vector xe is an equilibrium point for a
dynamical system model

x (t ) = f (t , x (t ))
if once the state vector equals to xe it remains
equal to x e for all future time. The equilibrium
point satisfies

f (t , x (t )) = 0
14
Formal Definition of Equilibrium
‡A point xe is called an equilibrium
point of dx/dt=f(t,x), or simply
an equilibrium, at time t0 if for
all t ≥ t0,
f(t, xe)=0
‡ Note that if xe is an equilibrium
of our system at t0, then it is
also an equilibrium for all τ ≥ t0
15
Equilibrium Points for LTI Systems

For the time invariant system

dx/dt=f(x)
a point is an equilibrium at some
time τ if and only if it is an
equilibrium at all times

16
Equilibrium State for LTI Systems
‡ LTI model
x = f (t , x ) = Ax
‡ Any equilibrium state xe must satisfy

Axe = 0
−1
‡ If A exist, then we have unique equilibrium
state
xe = 0
17
Equilibrium States of Nonlinear
Systems

‡A nonlinear system may have a

number of equilibrium states

‡ Theorigin, x=0, may or may not

be an equilibrium state of a
nonlinear system
18
Translating the Equilibrium of
Interest to the Origin

‡ Ifthe origin is not the

equilibrium state, it is always
possible to translate the origin of
the coordinate system to that
state
‡ So, no loss of generality is lost in
assuming that the origin is the
equilibrium state of interest
19
Example of a Nonlinear System with
Multiple Equilibrium Points
‡ Nonlinear system model

⎡ x1 ⎤ ⎡ x2 ⎤
⎢x ⎥ = ⎢x − x − x2 ⎥
⎣ 2⎦ ⎣ 1 2 1 ⎦
‡ Two isolated equilibrium states

(1) ⎡0 ⎤ (2 ) ⎡1⎤
xe = ⎢ ⎥ xe =⎢ ⎥
⎣0 ⎦ ⎣0 ⎦
20
Isolated Equilibrium

An equilibrium point xe in Rn is
an isolated equilibrium point if
there is an r>0 such that the r-
neighborhood of xe contains no
equilibrium points other than xe

21
Neighborhood of xe
The r-neighborhood of xe can be
a set of points of the form

where ||.|| can be any p-norm

on Rn
22
Remarks on Stability
‡ Stability properties characterize
the system behavior if its initial
state is close but not at the
equilibrium point of interest
‡ When an initial state is close to
the equilibrium pt., the state
may remain close, or it may
move away from the equilibrium
point 23
A. M. Lyapunov’s (1857--1918) Thesis

24
Lyapunov’s Thesis

25
Lyapunov’s Thesis Translated

26
Some Details About Translation

27
An Informal Definition of Stability

An equilibrium state is stable if

whenever the initial state is near
that point, the state remains
near it, perhaps even tending
toward the equilibrium point as
time increases

28
Stability Intuitive Interpretation

29
Formal Definition of Stability
An equilibrium state xeq is stable, in the sense
of Lyapunov, if for any given t0 and any positive
scalar ε there exist a positive scalar
δ = δ (t0 , ε )
such that if
x (t0 ) − xe < δ
then
x (t; t0 , x0 ) − xe < ε
for all t ≥ t0
30
Stability Concept in 1D

31
Stability Concepts in 2D

32
Further Discussion of Lyapunov
Stability

Think of a contest between you,

the control system designer, and
an adversary (nature?)---B.
Friedland (ACSD, p. 43, Prentice-
Hall, 1996)

33
Lyapunov Stability Game
‡ The adversary picks a region in
the state space of radius ε
‡ You are challenged to find a
region of radius δ such that if the
initial state starts out inside your
region, it remains in his region---
if you can do this, your system is
stable, in the sense of Lyapunov
34
Lyapunov Stability---Is It Any
Good?
‡ Lyapunov stability is weak---it
does not even imply that x(t)
converges to xe as t approaches
infinity
‡ The states are only required to
hover around the equilibrium
state
‡ The stability condition bounds the
amount of wiggling room for x(t) 35
Asymptotic Stability i.s.L
The property of an equilibrium
state of a differential equation
that satisfies two conditions:
‡(stability) small perturbations
in the initial condition
produce small perturbations
in the solution;
36
Second Condition for Asymptotic
Stability of an Equilibrium

‡ (attractivityof the equilibrium

point) there is a domain of
attraction such that whenever
the initial condition belongs to
this domain the solution
approaches the equilibrium state
at large times
37
Asymptotic Stability in the sense of
Lyapunov (i.s.L.)
‡ The equilibrium state is
asymptotically stable if
„ it is stable, and

„ convergent, that is,

x (t ; t0 , x0 ) → xe as t → ∞
38
Convergence Alone Does Not
Guarantee Asymptotic Stability
Note: it is not sufficient that just

x (t ; t0 , x0 ) → xe as t → ∞

for asymptotic stability. We need

stability too! Why?
39
How Long to the Equilibrium?
‡ Asymptotic stability does not
imply anything about how long it
takes to converge to a
prescribed neighborhood of xe
‡ Exponential stability provides a
way to express the rate of
convergence
40
Asymptotic Stability of Linear
Systems
‡ An LTI system is asymptotically
stable, meaning, the equilibrium
state at the origin is asymptotically
stable, if and only if the eigenvalues
of A have negative real parts
‡ For LTI systems asymptotic stability
is equivalent with convergence
(stability condition automatically
satisfied)
41
Asymptotic Stability of Nonlinear
Systems
‡ For LTI systems asymptotic
stability is equivalent with
convergence (stability condition
automatically satisfied)
‡ For nonlinear systems the state
may initially tend away from the
equilibrium state of interest but
subsequently may return to it
42
Asymptotic Stability in 1D

43
Convergence Does Not Mean
Asymptotic Stability (W. Hahn, 1967)
Hahn’s 1967 Example---A
system whose all solutions are
approaching the equilibrium,
xe=0, without this equilibrium
being asymptotically stable
(Antsaklis and Michel, Linear
Systems, 1997, p. 451)

44
Convergence Does Not Mean
Asymptotic Stability (W. Hahn, 1967)
Nonlinear system of Hahn where the origin
is attractive but not a.s.

45
Phase Portrait of Hahn’s 1967 Example
1

0.8

0.6

0.4

0.2
x2

−0.2

−0.4

−0.6

−0.8

−1
−1 −0.5 0 0.5 1 46
x1
Instability in 1D

47
Lyapunov Functions---Basic Idea
‡ Seek an aggregate summarizing
function that continually
decreases toward a minimum
‡ For mechanical systems---
energy of a free mechanical
system with friction always
decreases unless the system is
at rest, equilibrium
48
Lyapunov Function Definition

A function that allows one to

deduce stability is termed a
Lyapunov function

49
Lyapunov Function Properties
for Continuous Time Systems

‡ Continuous-time system

x(t ) = f ( x(t ))
‡ Equilibrium state of interest
xe
50
Three Properties of a Lyapunov
Function
We seek an aggregate summarizing
function V
„ V is continuous
„ V has a unique minimum with
respect to all other points in some
neighborhood of the equilibrium of
interest
„ Along any trajectory of the
system, the value of V never
increases 51
Lyapunov Theorem for Continuous
Systems
‡ Continuous-time system

x(t ) = f ( x(t ))
‡ Equilibrium state of interest

xe = 0
52
Lyapunov Theorem---Negative Rate
of Increase of V
‡ Ifx(t) is a trajectory, then
V(x(t)) represents the
corresponding values of V along
the trajectory
‡ In order for V(x(t)) not to
increase, we require

V ( x (t )) ≤ 0
53
The Lyapunov Derivative
‡ Use the chain rule to compute the
derivative of V(x(t))

V ( x(t )) = ∇V ( x ) x
T

‡ Use the plant model to obtain

V ( x(t )) = ∇V ( x ) f ( x )
T

‡ Recall T
⎡ ∂V ∂V ∂V ⎤
∇V ( x ) = ⎢ ⎥
⎣ ∂x1 ∂x2 ∂x2 ⎦ 54
Lyapunov Theorem for LTI Systems

The system dx/dt=Ax is

asymptotically stable, that is, the
equilibrium state xe=0 is
asymptotically stable (a.s), if
and only if any solution
converges to xe=0 as t tends to
infinity for any initial x0
55
Lyapunov Theorem Interpretation

‡ Viewthe vector x(t) as defining

the coordinates of a point in an
n-dimensional state space

‡ In
an a.s. system the point x(t)
converges to xe=0
56
Lyapunov Theorem for n=2

If a trajectory is converging to
xe=0, it should be possible to
find a nested set of closed curves
V(x1,x2)=c, c≥0, such that
decreasing values of c yield level
curves shrinking in on the
equilibrium state xe=0
57
Lyapunov Theorem and Level
Curves

‡ The limiting level curve

V(x1,x2)=V(0)=0 is 0 at the
equilibrium state xe=0
‡ The trajectory moves through
the level curves by cutting them
in the inward direction ultimately
ending at xe=0
58
The trajectory is moving in the
direction of decreasing V
Note that

59
Level Sets
‡ The level curves can be thought
of as contours of a cup-shaped
surface

‡ Foran a.s. system, that is, for

an a.s. equilibrium state xe=0,
each trajectory falls to the
bottom of the cup
60
Positive Definite Function---General
Definition

The function V is positive definite

in S, with respect to xe, if V has
continuous partials, V(xe)=0, and
V(x)>0 for all x in S, where x≠xe

61
Positive Definite Function With
Respect to the Origin

Assume, for simplicity, xe=0, then

the function V is positive definite
in S if V has continuous partials,
V(0)=0, and V(x)>0 for all x in S,
where x≠0

62
Example: Positive Definite Function
Positive definite function of two
variables

63
Positive Semi-Definite Function---
General Definition

The function V is positive semi-

definite in S, with respect to xe,
if V has continuous partials,
V(xe)=0, and V(x)≥0 for all x in
S

64
Positive Semi-Definite Function With
Respect to the Origin

Assume, for simplicity, xe=0,

then the function V is positive
semi-definite in S if V has
continuous partials, V(0)=0,
and V(x)≥0 for all x in S

65
Example: Positive Semi-Definite
Function
An example of positive semi-definite
function of two variables

66
Quadratic Forms
‡ V=xTPx, where P=PT
‡ If P not symmetric, need to
symmetrize it
‡ First observe that because the
transposition of a scalar equals
itself, we have

67
Symmetrizing Quadratic Form
‡ Perform manipulations

‡ Note that

68
Tests for Positive and Positive Semi-
Definiteness of Quadratic Form
‡ V=xTPx, where P=PT, is positive
definite if and only if all
eigenvalues of P are positive
‡ V=xTPx, where P=PT, is positive
semi-definite if and only if all
eigenvalues of P are non-
negative
69
Comments on the Eigenvalue Tests

‡ These tests are only good for the

case when P=PT. You must
symmetrize P before applying
the above tests
‡ Other tests, the Sylvester’s
criteria, involve checking the
signs of principal minors of P
70
Negative Definite Quadratic Form

V=xTPx is negative definite if

and only if
-xTPx=xT(-P)x
is positive definite

71
Negative Semi-Definite Quadratic
Form

V=xTPx is negative semi-definite

if and only if
-xTPx=xT(-P)x
is positive semi-definite

72
Example: Checking the Sign
Definiteness of a Quadratic Form
‡ Is P, equivalently, is the associated
quadratic form, V=xTPx, pd, psd,
nd, nsd, or neither?

‡ The associated quadratic form

73
Example: Symmetrizing the Underlying
Matrix of the Quadratic Form
‡ Applying the eigenvalue test to
the given quadratic form would
seem to indicate that the
quadratic form is pd, which turns
out to be false
‡ Need to symmetrize the
underlying matrix first and then
can apply the eigenvalue test
74
Example: Symetrized Matrix
‡ Symmetrizing manipulations

‡ The eigenvalues of the symmetrized

matrix are: 5 and -1
‡ The quadratic form is indefinite!
75
Example: Further Analysis
‡ Direct check that the quadratic form
is indefinite
‡ Take x=[1 0]T. Then

‡ Take x=[1 1]T. Then

76
Stability Test for xe=0 of dx/dt=Ax
‡ Let V=xTPx where P=PT>0
‡ For V to be a Lyapunov function,
that is, for xe=0 to be a.s.,

‡ Evaluatethe time derivative of V

on the solution of the system
dx/dt=Ax---Lyapunov derivative
77
Lyapunov Derivative for dx/dt=Ax
‡ Note that V(x(t))=x(t)TPx(t)
‡ Use the chain rule

‡ We used
78
Lyapunov Matrix Equation
‡ Denote

‡ Thenthe Lyapunov derivative

can be represented as

where
79
Terms to Our Vocabulary
‡ Theorem---a major result of
independent interest
‡ Lemma---an auxiliary result that is
used as a stepping stone toward a
theorem
‡ Corollary---a direct consequence of a
theorem, or even a lemma

80
Lyapunov Theorem
The real matrix A is a.s., that is,
all eigenvalues of A have
negative real parts if and only if
for any the solution
of the continuous matrix
Lyapunov equation

is (symmetric) positive definite 81

How Do We Use the Lyapunov
Theorem?
‡ Select an arbitrary symmetric
positive definite Q, for example,
an identity matrix, In
‡ Solve the Lyapunov equation for
P=PT
‡ If P is positive definite, the
matrix A is a.s. If P is not p.d.
then A is not a.s.
82
How NOT to Use the Lyapunov
Theorem

‡ Itwould be no use choosing P to

be positive definite and then
calculating Q
‡ For unless Q turns out to be
positive definite, nothing can be
said about a.s. of A from the
Lyapunov equation
83
Example: How NOT to Use the
Lyapunov Theorem
‡ Consider an a.s. matrix

‡ Try

‡ Compute
84
Example: Computing Q

The matrix Q is indefinite!---

recall the previous example 85
Solving the Continuous Matrix
Lyapunov Equation Using MATLAB
‡ Usethe MATLAB’s command lyap
‡ Example:

‡ Q=I2
‡ P=lyap(A,Q)

of P are positive: 0.2729

‡ Eigenvalues
and 2.9771; P is positive definite 86
Limitations of the Lyapunov
Method
‡ Usually, it is challenging to analyze
the asymptotic stability of time-
varying systems because it is very
difficult to find Lyapunov functions
with negative definite derivatives
‡ When can one conclude asymptotic
stability when the Lyapunov
derivative is only negative semi-
definite?
87
Some Properties of Time-Varying
Functions

‡ does not imply that f(t)

has a limit as

‡ f(t) has a limit as does not

imply that

88
More Properties of Time-Varying
Functions
‡ Iff(t) is lower bounded and
decreasing ( ), then it
converges to a limit. (A well-known
result from calculus.)

‡ But we do not know whether

or not as

89
Preparation for Barbalat’s Lemma
‡ Under what conditions

‡ We already know that the existence

of the limit of f(t) as
is not enough for

90
Continuous Function

‡A function f(t) is continuous if small

changes in t result in small changes
in f(t)
‡ Intuitively, a continuous function is a
function whose graph can be drawn
without lifting the pencil from the
paper

91
Continuity on an Interval
‡ Continuity is a local property of a
function—that is, a function f is
continuous, or not, at a particular
point
‡ A function being continuous on an
interval means only that it is
continuous at each point of the
interval

92
Uniform Continuity
‡A function f(t) is uniformly
continuous if it is continuous and, in
addition, the size of the changes in
f(t) depends only on the size of the
changes in t but not on t itself
‡ The slope of an uniformly continuous
function slope is bounded, that is,
is bounded
‡ Uniform continuity is a global
property of a function 93
Properties of Uniformly Continuous
Function
‡ Every uniformly continuous function
is continuous, but the converse is not
true
‡ A function is uniformly continuous, or
not, on an entire interval
‡ A function may be continuous at
each point of an interval without
being uniformly continuous on the
entire interval
94
Examples
‡ Uniformly continuous:
f(t) = sin(t)
Note that the slope of the above
function is bounded
‡ Continuous, but not uniformly
continuous on positive real numbers:
f(t) = 1/t
Note that as t approaches 0, the
changes in f(t) grow beyond any
bound 95
State of an a.s. System With
Bounded Input is Bounded
‡ Example of Slotine and Li, “Applied
Nonlinear Control,” p. 124, Prentice
Hall, 1991
‡ Consider an a.s. stable LTI system
with bounded input

‡ Thestate x is bounded because u is

bounded and A is a.s. 96
Output of a.s. System With Bounded
Input is Uniformly Continuous
‡ Because x is bounded and u is
bounded, is bounded
‡ Derivative of the output equation is

‡ The time derivative of the output is

bounded
‡ Hence, y is uniformly continuous
97
Barbalat’s Lemma

If f(t) has a finite limit as

and if is uniformly continuous

(or is bounded), then

as
98
Lyapunov-Like Lemma
Given a real-valued function W(t,x)
such that
„ W(t,x) is bounded below
„ W(t,x) is negative semi-definite
„ is uniformly continuous in
t (or bounded) then

99
Lyapunov-Like Lemma---Example;
see p. 211 of the Text
‡ Interested in the stability of the
origin of the system

where u is bounded
‡ Consider the Lyapunov function
candidate

100
Stability Analysis of the System in
the Example
‡ The Lyapunov derivative of V is

‡ The origin is stable; cannot say

anything about asymptotic stability
‡ Stability implies that x1 and x2 are
bounded 101
Example: Using the Lyapunov-Like
Lemma
‡ We now show that

‡ Note that V=x12+x22 is bounded from

below and non-increasing as
‡ Thus V has a limit as
‡ Need to show that is uniformly
continuous
102
Example: Uniform Continuity of
‡ Compute the derivative of and
check if it is bounded

‡ The function is uniformly

continuous because is bounded
‡ Hence
‡ Therefore
103
Benefits of the Lyapunov Theory
‡ Solution to differential equation are
not needed to infer about stability
properties of equilibrium state of
interest
‡ Barbalat’s lemma complements the
Lyapunov Theorem

" Lyapunov functions are useful

in designing robust and adaptive
controllers 104