Nonlinear Systems and Control
Lecture # 16
Feedback Systems: Passivity
Theorems
p. 1/21
-
- -
6
?
u
1
u
2
e
1
e
2
y
1
y
2
H
1
H
2
+
+
+
x
i
= f
i
(x
i
, e
i
), y
i
= h
i
(x
i
, e
i
)
y
i
= h
i
(t, e
i
)
p. 2/21
Passivity Theorems
Theorem 6.1: The feedback connection of two passive
systems is passive
Theorem 6.3: Consider the feedback connection of two
dynamical systems. When u = 0, the origin of the
closed-loop system is asymptotically stable if each
feedback component is either
strictly passive, or
output strictly passive and zero-state observable
Furthermore, if the storage function for each component is
radially unbounded, the origin is globally asymptotically
stable
p. 3/21
Theorem 6.4: Consider the feedback connection of a
strictly passive dynamical system with a passive
memoryless function. When u = 0, the origin of the
closed-loop system is uniformly asymptotically stable. if the
storage function for the dynamical system is radially
unbounded, the origin will be globally uniformly
asymptotically stable
Prove using V = V
1
+V
2
as a Lyapunov function candidate
Proof of Theorem 6.3: H
1
is SP; H
2
is OSP & ZSO
e
T
1
y
1
V
1
+
1
(x
1
),
1
(x
1
) > 0, x
1
= 0
e
T
2
y
2
V
2
+y
T
2
2
(y
2
), y
T
2
(y
2
) > 0, y
2
= 0
p. 4/21
e
T
1
y
1
+e
T
2
y
2
= (u
1
y
2
)
T
y
1
+(u
2
+y
1
)
T
y
2
= u
T
1
y
1
+u
T
2
y
2
V (x) = V
1
(x
1
) +V
2
(x
2
)
V u
T
y
1
(x
1
) y
T
2
2
(y
2
)
u = 0
V
1
(x
1
) y
T
2
2
(y
2
)
V = 0 x
1
= 0 and y
2
= 0
y
2
(t) 0 e
1
(t) 0 ( & x
1
(t) 0) y
1
(t) 0
y
1
(t) 0 e
2
(t) 0
By zero-state observability of H
2
: y
2
(t) 0 x
2
(t) 0
Apply the invariance principle
p. 5/21
Example
x
1
= x
2
x
2
= ax
3
1
kx
2
+e
1
y
1
= x
2
+e
1
. .
H
1
x
3
= x
4
x
4
= bx
3
x
3
4
+e
2
y
2
= x
4
. .
H
2
a, b, k > 0
V
1
=
1
4
ax
4
1
+
1
2
x
2
2
V
1
= ax
3
1
x
2
ax
3
1
x
2
kx
2
2
+x
2
e
1
= ky
2
1
+y
1
e
1
With e
1
= 0, y
1
(t) 0 x
2
(t) 0 x
1
(t) 0
H
1
is output strictly passive and zero-state observable
p. 6/21
V
2
=
1
2
bx
2
3
+
1
2
x
2
4
V
2
= bx
3
x
4
bx
3
x
4
x
4
4
+x
4
e
2
= y
4
2
+y
2
e
2
With e
2
= 0, y
2
(t) 0 x
4
(t) 0 x
3
(t) 0
H
2
is output strictly passive and zero-state observable
V
1
and V
2
are radially unbounded
The origin is globally asymptotically stable
p. 7/21
Loop Transformations
Recall that a memoryless function in the sector [K
1
, K
2
]
can be transformed into a function in the sector [0, ] by
input feedforward followed by output feedback
-
-
K
1
-
y = h(t, u)
-
-
-
K
1
6 6
+
+
+
p. 8/21
- h -
H
1
-
H
2
6
+
H
1
is a dynamical system
H
2
is a memoryless function in the sector [K
1
, K
2
]
p. 9/21
- h - h -
H
1
-
K
1
6
H
2
h
6
K
1
6
+
p. 10/21
- h - h -
H
1
-
K
-
K
1
6
K
1
H
2
h
6
K
1
6
+
p. 11/21
- h - h -
H
1
-
K
- h -
K
1
6
?
h
K
1
H
2
h
6
K
1
6 6
H
1
H
2
+
+
+
+
+
+
p. 12/21
Example
x
1
= x
2
x
2
= h(x
1
) +bx
2
+e
1
y
1
= x
2
. .
H
1
y
2
= (e
2
)
. .
H
2
[, ], h [
1
, ], b > 0,
1
> 0, k = > 0
x
1
= x
2
x
2
= h(x
1
) ax
2
+ e
1
y
1
= kx
2
+ e
1
. .
H
1
y
2
= ( e
2
)
. .
H
2
[0, ], a = b
p. 13/21
Assume a = b > 0 and show that
H
1
is strictly passive
V
1
= k
_
x
1
0
h(s) ds +x
T
Px
V
1
= k
_
x
1
0
h(s) ds +p
11
x
2
1
+ 2p
12
x
1
x
2
+p
22
x
2
2
V = kh(x
1
)x
2
+ 2(p
11
x
1
+p
12
x
2
)x
2
2(p
12
x
1
+p
22
x
2
)[h(x
1
) ax
2
+ e
1
]
Take p
22
= k/2, p
11
= ap
12
p. 14/21
V = 2p
12
x
1
h(x
1
) (ka 2p
12
)x
2
2
+kx
2
e
1
+ 2p
12
x
1
e
1
= 2p
12
x
1
h(x
1
) (ka 2p
12
)x
2
2
+ (kx
2
+ e
1
) e
1
e
2
1
+ 2p
12
x
1
e
1
y
1
e
1
=
V + 2p
12
x
1
h(x
1
) + (ka 2p
12
)x
2
2
+ ( e
1
p
12
x
1
)
2
p
2
12
x
2
1
V +p
12
(2
1
p
12
)x
2
1
+ (ka 2p
12
)x
2
2
Take 0 < p
12
< min
_
ak
2
, 2
1
_
p
2
12
< 2p
12
k
2
= p
11
p
22
H
1
is strictly passive. By Theorem 6.4 the origin is globally
asymptotically stable (when u = 0)
p. 15/21
-
-
H
1
-
H
2
6
+
p. 16/21
-
-
H
1
-
W
1
(s)
-
W(s)
H
2
6
H
1
H
2
+
p. 17/21
Example
H
1
: x = Ax +Be
1
, y
1
= Cx
A =
_
0 1
1 1
_
, B =
_
0
1
_
, C =
_
1 0
_
H
2
: y
2
= h(e
2
), h [0, ]
C(sI A)
1
B =
1
(s
2
+s + 1)
Not PR
W(s) =
1
as + 1
(as + 1)
(s
2
+s + 1)
H
1
: x = Ax +Be
1
, y
1
=
Cx =
_
1 a
_
x
p. 18/21
(as + 1)
(s
2
+s + 1)
Re
_
1 +ja
1
2
+j
_
=
1 + (a 1)
2
(1
2
)
2
+
2
lim
2
Re
_
1 +ja
1
2
+j
_
= a 1
a > 1
(as + 1)
(s
2
+s + 1)
is SPR
V
1
=
1
2
x
T
Px, PA+A
T
P = L
T
L P, PB =
C
T
p. 19/21
H
2
: a e
2
= e
2
+ e
2
, y
2
= h(e
2
), h [0, ]
H
2
is strictly passive with V
2
= a
_
e
2
0
h(s) ds. Use
V = V
1
+V
2
=
1
2
x
T
Px +a
_
e
2
0
h(s) ds
as a Lyapunov function candidate for the original feedback
connection
p. 20/21
V =
1
2
x
T
P x +
1
2
x
T
Px +ah(e
2
) e
2
=
1
2
x
T
P[Ax Bh(e
2
)] +
1
2
[Ax Bh(e
2
)]
T
Px
+ah(e
2
)C[Ax Bh(e
2
)]
=
1
2
x
T
L
T
Lx (/2)x
T
Px x
T
C
T
h(e
2
)
+ah(e
2
)CAx
=
1
2
x
T
L
T
Lx (/2)x
T
Px
x
T
[C +aCA]
T
h(e
2
) +ah(e
2
)CAx
=
1
2
x
T
L
T
Lx (/2)x
T
Px e
T
2
h(e
2
)
(/2)x
T
Px
The origin is globally asymptotically stable
p. 21/21
