MAE 506: Advanced System Modeling,

Dynamics and Control

Lecture 20 Stability Analysis

Ch. 6 in text

Spring Berman
Fall 2014

Phase Portraits
! x $ ! f (x , x )
Drawn from the vector field of a dynamical system
1
&=# 1 1 2
x = #
Each point represents a possible system state, x
#" x2 &% #" f2 (x1, x2 )
An arrow shows the velocity x at state x
x = f(x eq ) = 0 xeq = equilibrium point / stationary point / critical point

$
&
&%

K. J. Astrom and R. M. Murray, Feedback Systems, 2011 (online)

Example: Inverted Pendulum

Nonlinear,
time-invariant,
2nd-order system

c = viscous friction coefficient (system has damping)

u = input = force applied at the pivot
State variables:

No control input (u = 0) Equilibrium points are:

n even: pendulum up
n odd: pendulum down

K. J. Astrom and R. M. Murray, Feedback Systems, 2011 (online)

Phase Portrait of Uncontrolled, Damped Inverted Pendulum

K. J. Astrom and R. M. Murray, Feedback Systems, 2011 (online)

Nonlinear Systems Can Exhibit Rich Behaviors

Limit cycles
(closed trajectory
in state space)

Electronic
oscillator
model

Multiple equilibria
Stability about an equilibrium point is dependent on initial
conditions
States can go to infinity in finite time
Small changes in initial conditions
may lead to widely diverging outcomes:
system is deterministic but not predictable
(chaos)
Lorenz attractor (a set of chaotic solutions of the Lorenz system)

Dynamical Behavior of LTI Systems

x = Ax
! x $ ! A B $! x $
&# &
# &=#
" y % " C D %" y %

Characteristic polynomial:

"Phase plane nodes" by Maschen - Own work. Licensed under Creative Commons Zero, Public Domain Dedication via Wikimedia
Commons - http://commons.wikimedia.org/wiki/File:Phase_plane_nodes.svg#mediaviewer File:Phase_plane_nodes.svg

Dynamical Behavior of LTI Systems

Dynamical Behavior of LTI Systems

Dynamical Behavior of LTI Systems

Phase Portraits: Unforced Inverted Pendulum

K. J. Astrom and R. M. Murray, Feedback Systems, 2011 (online)