EE650 - Basics of Modern Control Systems
Solutions for Assignment - 8
x3
1. i. We have, ẋ1 = x2 , ẋ2 = −x1 + 61 − x2
For finding the equilibrium points,
ẋ1 = 0, ⇒x2 = 0
x3
ẋ2 = 0, ⇒ − x1 + 1 = 0
2 6
x1
x1 −1 =0
6
√
x1 = 0, x21 = 6, x1 = ± 6
√ √
Equilibrium points: (0, 0), ( 6, 0), (− 6, 0).
Finding the Jacobian matrix, " #
∂f1 ∂f1
∂x1 ∂x2
J= ∂f2 ∂f2
∂x1 ∂x2
√
0 1 −1 ± j 3
[J](0,0) = , λ= =⇒ stable node
−1 −1 2
√ 0 1
[J]( 6,0) = , λ = −2, 1 =⇒ saddle node
2 −1
0 1
[J](−√6,0) = , λ = −2, 1 =⇒ saddle node
2 −1
ii. Similar as the previous part.
2. Already solved in the previous question.
3.
ẋ1 = x2 , ẋ2 = −a sin x1 − bx2
Equilibrium points: −(0, 0), (π, 0).
Consider V = a (1 − cos x1 ) + 0.5x22 . Then differentiating V , we get
V̇ = a sin x1 ẋ1 + x2 ẋ2
V̇ = x2 a sin x1 + x2 (−a sin x1 − bx2 )
V̇ = −bx22
V̇ ≤ 0 =⇒ ∴ System is stable in the sense of Lyapunov.
4. i) f (x) = sin(x) sgn(x)
We know that sin(x) is globally Lipchitz. But, sin(x) sgn(x) is not continuously differentiable at x = 0
because limx→0+ f ′ (x) = 1 ̸= limx→0− f ′ (x) = −1.
Hence, it is locally Lipchitz.
ii) f (x) = tan(x)
Since, the derivative
is notglobally bounded, it is not globally Lipschitz. It is locally Lipschitz.
−x1 + x1 x2
iii) f (x) =
x2 − x1 x2
1
∂f −1 + x2 x1
=
∂x −x2 1 − x1
Since, all the terms are unbounded, it is locally Lipschitz in R2 .
For finding the Lipschitz constant, ∂f
∂x = max {|− |+x2 | + |x1 | , |x2 | + |1 − x1 |} .
∞
∂f
≤ 1 + k1 + k2 = L.
∂x ∞
5. Linearization can be done as shown in Q.1. The phase portraits are made as following:
(a) (i) (b) (ii) (c) (iii)
Figure 1: Phase portraits
6. i) ẋ1 = −x1 + x1 x2 , ẋ2 = −x2
x21 x2
V = + 2
2 2
V̇ = x1 ẋ1 + x2 ẋ2
V̇ = −x21 + x21 x2 − x22
In the set ∥x∥2 ⩽ r2 , we have ∥x1 ∥ < r. Hence,
V̇ ⩽ −x21 − x22 + r |x1 | |x2 |
x2 = e−x2 t x2 (0)
ẋ1 = −1 + e−x2 t x2 (0) x1
So, limt→∞ x1 (t) = 0 & limt→∞ x2 (t) = 0.
∴ The system is globally asymptotically stable.
ii)
ẋ1 = −x2 − x1 1 − x21 − x22 , ẋ2 = x1 − x2 1 − x21 − x22
x21 x2
v= + 2
2 2
V̇ = x1 ẋ1 + x2 ẋ2
= −x1 x2 − x21 1 − x21 − x22 + x1 x2 − x22 1 − x21 − x22
= − x21 + x22 1 − x21 − x22
= −2V (1 − 2V )
For a specific region, V is negative definite ⇒ System is locally asymptotically stable.
7. We have,
ẋ(t) = (x − 1)(x + y), ẏ(t) = y − x2
Eq. pts: (1, 1), (0, 0), (−1, 1).
2x + y − 1 x − 1
J=
2x 1
2 0
J|(1,1) = ⇒ λ = 2, 1
−2 1
−1 −1
J|(0,0) = ⇒ λ = −1, 1
0 1
√
−2 −2 −1 ± j 7
J|(−1,1) = ⇒λ= ⇒ stable node
2 1 2
∴ System is asymptotically stable at (−1, 1).
8. Similar as in Q.3.
