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Robustness estimation via integral liapunov functionsAlam, Arshad 05 March 1992 (has links)
An investigation focusing on methods of estimation of robustness of nominally linear dynamic systems with unstructured uncertainties was performed. The algorithm proposed involves the consideration of an associated system, selection, and subsequent development, of Liapunov function candidate and integration of their derivatives along the solution trajectory. A nominally linear multi-dimensional dynamic system is considered with unstructured, nonlinear, time-varying and bounded perturbations. The examples illustrate the success of the method: better estimates of the bounds, than those which results from traditional approaches were obtained. Robustness of linear, time-invariant systems subject to nonlinear, time-varying perturbations has been a matter of considerable research interest recently. Design of conventional state-feedback controllers requires knowledge of the bounds for disturbances. The knowledge of disturbance bounds is also important in adaptive control and control of nonlinear & uncertain systems. Numerous applications can be found in the fields of automation, aircraft control, manipulator trajectory control, etc. The technique for the determination of robust stability bounds proposed in this paper can be utilized effectively in computerized robust control system design. / Graduation date: 1992
THE STABILITY OF CERTAIN NONLINEAR, TIME-VARYING SYSTEMS OF AUTOMATIC CONTROLHiggins, Walter Thomas, 1938- January 1966 (has links)
No description available.
Formation control of car-like mobile robotsPanimadai Ramaswamy, Shweta Annapurani, January 2008 (has links) (PDF)
Thesis (M.S.)--Missouri University of Science and Technology, 2008. / Vita. The entire thesis text is included in file. Title from title screen of thesis/dissertation PDF file (viewed April 14, 2008) Includes bibliographical references (p. 119-121).
Numerical analysis of the Lyapunov equation with application to interconnected power systemsJanuary 1976 (has links)
by Thomas Mac Athay. / Bibliography: p.109-111. / Prepared under grant ERDA-E(49-18)-2087. Originally presented as the author's thesis, (M.S. and E.E.), M.I.T. Dept. of Electrical Engineering and Computer Science, 1976.
Iterative decomposition of the Lyapunov and Riccati equationsJanuary 1978 (has links)
by Norman August Lehtomaki. / Bibliography: p. 161-163. / Originally presented as the author's thesis, (M.S.) in the M.I.T. Dept. of Electrical Engineering and Computer Science, 1978. / Prepared under Dept. of Energy, Division of Electric Energy Systems Grant ERDA-E(49-18)-2087.
Robust stabilization of linear time-invariant uncertain systems via Lyapunov theoryChao, Chien-Hsiang January 1988 (has links)
This dissertation is concerned with the problem of synthesizing a robust stabilizing feedback controller for linear time-invariant systems with constant uncertainties that are not required to satisfy matching conditions. Only the bounds on the uncertainties are required and no statistical property of the uncertainties is assumed. The systems under consideration are described by linear state equations with uncertainties. I.e. x(t) = A̅(γ)x(t) +B̅(γ)u(t), where A̅(γ) is an n x n matrix and B̅(γ) is an n x m matrix. Lyapunov theory is exploited to establish the conditions for stabilizability of the closed loop system. We consider a Lyapunov function with an uncertain symmetric positive definite matrix P. The uncertain matrix P satisfies the Lyapunov equation A<sup>T</sup>P + PA + Q = 0, where the matrix A is in companion form and the matrix Q is symmetric and positive definite. In the solution of the Lyapunov equation, m rows of the matrix P are fixed in our approach of designing a robust controller. We derive necessary and sufficient conditions on these fixed m rows of the matrix P such that for given positive definite and symmetric Q the solution of the Lyapunov equation yields a positive definite matrix P and a companion matrix A that is Hurwitz. A discontinuous robust stabilizing controller is given. Linear controller design is also investigated in this research. Under the same assumptions for the existence of a stabilizing discontinuous controller, we show that a linear robust stabilizing controller always exists. The dissertation includes three examples to illustrate the design procedures for robust controllers. Example 2 shows that the design procedure may be applied to time-varying nonlinear systems. / Ph. D.
Geometry's Fundamental Role in the Stability of Stochastic Differential EquationsHerzog, David Paul January 2011 (has links)
We study dynamical systems in the complex plane under the effect of constant noise. We show for a wide class of polynomial equations that the ergodic property is valid in the associated stochastic perturbation if and only if the noise added is in the direction transversal to all unstable trajectories of the deterministic system. This has the interpretation that noise in the "right" direction prevents the process from being unstable: a fundamental, but not well-understood, geometric principle which seems to underlie many other similar equations. The result is proven by using Lyapunov functions and geometric control theory.
Some Results on Reset Control systems / Sur la stabilité des systèmes à réinitialisationLoquen, Thomas 07 May 2010 (has links)
Les contrôleurs à réinitialisation sont une classe de systèmes hybrides dont la valeur de tout ou partie des états peut être instantannément modifiée sous certaines conditions algébriques. Cette interaction entre dynamique temps-continu et temps-discret de ces contrôleurs permet souvent de dépasser les limites des contrôleurs temps-continu. Dans cette thèse, nous proposons des conditions constructives (sous forme d’Inégalités Matricielles Linéaires) pour analyser la stabilité et les performances de boucle de commande incluant un contrôleur à réinitialisation. En particulier, nous prenons en compte la présence de saturation en amplitude des actionneurs du système. Ces non-linéarités sont souvent source d'une dégradation des performances voir d’instabilité. Les résultats proposés permettent d’estimer le domaine de stabilité et un niveau de performance pour ces systèmes, en s’appuyant sur des fonctions de Lyapunov quadratiques ou quadratiques par morceaux. Au delà de l'aspect analyse, nous exposons deux approches pour améliorer la région de stabilité (nouvelle loi de réinitialisation et stratégie « anti-windup »). / Hybrid controllers are flexible tools for achieving system stabilization and/or performance improvement tasks. More particularly, hybrid controllers enrich the spectrum of achievable trade-offs. Indeed, the interaction of continuous- and discrete-time dynamics in a hybrid controller leads to rich dynamical behavior and phenomena not encountered in purely continuous-time system. Reset control systems are a class of hybrid controllers whose states are reset depending on an algebraic condition. In this thesis, we propose constructive conditions (Linear Matrix Inequalities) to analyze stability and performance level of a closed-loop system including a reset element. More particularly, we consider a magnitude saturation which could be the source of undesirable effects on these performances, including instability. Proposed results estimate the stability domain and a performance level of such a system, by using Lyapunov-like approaches. Constructive algorithms are obtained by exploiting properties of quadratic - or piecewise quadratic - Lyapunov functions. Beyond analysis results, we propose design methods to obtain a stability domain as large as possible. Design methods are based on both continuous-time approaches (anti-windup compensator) and hybrid-time approaches (design of adapted reset rules).
Funções de Lyapunov para a análise de estabilidade transitória em sistemas de potência / not availableSilva, Flávio Henrique Justiniano Ribeiro da 06 August 2001 (has links)
Os métodos diretos são adequados à análise de estabilidade transitória em sistemas de potência, já que não requerem a resolução, integração numérica, do conjunto de equações diferenciais que representam o sistema. Os métodos diretos utilizam as idéias de Lyapunov associadas ao princípio de invariância de LaSalle para estimar a área de atração dos sistemas de potência. A grande dificuldade dos métodos diretos está em encontrar uma função auxiliar V, denominada função de Lyapunov que satisfaça as condições estabelecidas pelo Teorema de Lyapunov. Neste trabalho é realizada uma revisão bibliográfica das funções de Lyapunov utilizadas para análise de estabilidade transitória em sistemas de potência. Analisa-se o problema da existência de funções de Lyapunov quando as condutâncias de transferência são consideradas. Utilizando-se de uma extensão do princípio de Invariância de LaSalle, apresenta-se uma nova função a qual é uma função de Lyapunov no sentido mais geral da extensão do princípio de invariância de LaSalle quando as condutâncias de transferência da matriz admitância da rede reduzida são consideradas. Estudou-se também a existência de funções de Lyapunov no sentido mais geral de extensão do princípio de invariância de LaSalle para modelos que preserva a estrutura da rede. Neste caso, infelizmente não encontramos uma função satisfazendo todas as hipóteses requeridas. / The direct methods are well-suited for transient stability analysis to power systems, since they do not require the solution of the set of differential equations of the system model. The direct methods use the Lyapunov\'s ideas related to the LaSalle\'s invariance principle to estimate the power system attraction area. The great difficulty of the direct methods is to find an auxiliar function V, called Lyapunov function, which satisfies the conditions of Lyapunov\'s theorem. In this work, a bibliographic review of the Lyapunov functions used in transient stability analysis of power systems is done. The problem of existence of Lyapunov functions, when the transfer conductances are considered, is analysed. Using LaSalle\'s invariance principle extension, a Lyapunov function considering the transfer conductances is presented. The existence of Lyapunov functions for models that preserv the network structure was studied using the LaSalle\'s invariance principle. Unfortunately, in these cases, we did not find a function satisfing all the required hypothesis.
Estabilidade de equações diferenciais ordinárias através de funções dicotômicas /Ferracini, Evelize Aparecida dos Santos. January 2011 (has links)
Orientador: Suzinei Aparecida Siqueira Marconato / Banca: Maria Aparecida Bená / Banca: Renata Zotin Gomes de Oliveira / Resumo: Neste trabalho apresentamos um estudo sobre estabilidade do equilíbrio nulo de equações diferenciais ordinárias autônomas através do Segundo Método de Liapunov e do Método das Funções Dicotômicas, que é uma extensão do Segundo Método de Liapunov / Abstract: This work presents a study about stability of the null equilibrium of autonomous ordinary differential equations by Liapunov's Second Method and Method of Dichotomic Maps, which is an extension of the Liapunov's Second Method / Mestre
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