Professional Documents
Culture Documents
1 2
Exponential Stability
Asymptotically Stable
Definition: There exist positive constants
Definition: Stable equilibrium and it is such that implies
possible to choose such that
implies Global exponential stability: property holds
Converges to equilibrium by starting for any initial state .
sufficiently close to it. Length of state vector decays faster than an
Globally asymptotically stable: converges exponential function.
to equilibrium from any initial state. For linear systems, decay is always
exponential.
7 8
Exponential Stability Linear Time-invariant Systems
1
0.9
For a nonsingular state matrix
0.8
0.7
if and only if
0.6 Only one equilibrium point at the origin.
0.5
For a singular state matrix
0.4
0.3
,
0.2 Rank deficit=number of linearly independent
0.1
Infinitely many equilibrium points on
0
0 5 10 15
9 10
Response is bounded for distinct eigenvalues on LTI system is asymptotically stable if and only if
the imaginary axis (stable). all eigenvalues are in the open LHP.
Response is unbounded for repeated LTI: asymptotic stability implies global
eigenvalues on the imaginary axis (unstable). exponential stability.
11 12
State Trajectories Example
3
Is the system asymptotically stable?
2
Stable
>> A=[3,-2,0;8,-3,-4;0,4,-9];
1
>> eig(A)
ans =
0
-1.0000
Asymptotically stable
-1
-3.0000
-2 -5.0000
Yes. All poles in the open LHP.
-1.5 -1 -0.5 0 0.5 1
13 14
Important Relations
Definitions
x2 Internally stable systems are stabilizable
Observable
Detectable: all unstable Subspace and detectable (no unstable modes).
modes are observable Unobservable
Subspace
y Observable systems are detectable (no
(i.e. all unobservable (stable)
x1 unstable unobservable modes).
modes are stable).
Controllable systems are stabilizable (no
Stabilizable: all unstable x2 Controllable unstable uncontrollable modes).
modes are controllable Uncontrollable Subspace
Controllable (phase var. form) but not observable. Observable (observer form) but not controllable.
BIBO stable but not internally stable. BIBO stable but not internally stable.
Stabilizable but not detectable. Detectable but not stabilizable.
25 26