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NWAGBA ODERA CHUKWUKA 2008/158546 An assignment on liapunovs first method of stability analysis. This paper is write up base on the utilization of liapunov stability method to form the bases for the stability analysis of nonlinear systems. For a given control system stability is probably the most important thing to be determined. If a system is linear-time-invariant stability criterias such as the Nyquist and rouths stability criteria can be used. However if the system is non linear or time invariant then such stability criteria do not apply. The first method of liapunov (indirect method) consists of all procedures in which the explicit forms of the solutions of the differential equations are used for the analysis. [1] STABILITY IN THE SENSE OF LIAPUNOV In the following we shall denote a spherical region of radius K about an equilibrium point Xe as ||X- Xe || K Where ||X- Xe || is called the Euclidean norm and can be defined as ||X- Xe ||= [ (X1- Xe1)2 +(X2- Xe2)2 + ... + (Xn- Xen)2 ]1/2 Let S() consists of all points such that

||X0- Xe || Let S()consist of all points such that ||(t;X0,t0)-Xe|| An equilibrium state Xe of the system with the above equations is said to be stable in the sense of liapunov , if corresponding to each S(), there is an S() such that the trajectories of S() do not leave S() as t increases indefinitely. Liapunovs first (indirect) method Consider the system above, where f is not a linear function. Using Taylor expansion, we have

Where A is the Jacobian matrix of f(x) evaluated at x

And g(x) is a function of the higher order terms. The resulting linear system is given by

The stability of the system can then be assessed using the following rules: 1. The equilibrium point is asymptotically stable if the linearised system is strictly stable 2. The equilibrium point is unstable if the linearised system is strictly unstable 3. If the linearised system is marginally stable, then we cannot conclude anything from the linear approximation. Consider 1. from the above rules, If all the eigenvalues of A have negative real parts, then the linearised system is asymptotically stable. Problems include: If some of the eigenvalues are zero, we cannot conclude anything about the system The linear approximation is valid when the initial conditions are Close to x however howclose is close?

References [1] modern control engineering; third edition, katsuhiko ogata, prentice hall, 2000. [2] A Gentle Introduction to Lyapunov Functions, Maya Ramakrishnan ORSUM 19th August 2003,The University of Melbourne.