ELEC 9732 Assignment 2 Q2 (17) Input Output Stability .

Consider the system with input u, output y,

Instructions [see also course outline]
1 due in Moodle, Thursday October 7, 4pm ẋ1 = −x2
2 Signed School Cover Sheet attached ẋ2 = x1 − x2 sat(x22 − x23 ) + x2 u
3 PDF only: typed - not handwritten.
ẋ3 = x3 sat(x22 − x23 ) − x3 u
4 Follow the Homework Rules. y = x22 − x23
Computer
5 output : no discussion ⇒ no marks.
Analytical where the saturation function is,
6 results : no working ⇒ no marks. sat(w) = w if |w| ≤ 1; = sign(w) if |w| > 1.
Find conditions under which this system is energy
7 ♦ means you can use Matlab; else not.
N o Copying input energy output stable. Also find an upper
8 except f rom lectures ; No Discussion. bound on the system gain.

Q1 (16) Lyapunov Stability . Q3 (17) Describing Functions .

Consider the system Consider a unity feedback system with null refer-
ence signal and a forward loop consisting of a dead-
ẋ1 = x2 zone+saturation nonlinearity cascaded with a LTI
ẋ2 = −h(x1 ) − x2 − g(x3 ) system with transfer function,
ẋ3 = x2 − x3 1−s
G(s) =
where g(y), h(y) obey Lipschitz conditions and sat- s(s + 1)
isfy, (i) Calculate the describing function of the dead-
g(0) = 0 = h(0), yh(y) > 0, yg(y) > 0, y 6= 0 zone+saturation nonlinearity.
Using the candidate Lyapunov function
Z x1 Z x3 (ii) With (a = 1, b = 23 , k = 1) use describing func-
1 tion stability analysis to see whether there is a
V (x) = h(y)dy + g(y)dy + x22
0 0 2 limit cycle and if so compute its approximate
amplitude and frequency.
(i) Show that the system has a unique equilibrium
point.
(ii) Show V (x) is positive definite.

(iii) Show the equilibrium point. is asymptotically

stable.
(iv) Find conditions on h(y), g(y) that ensure the
equilibrium point is globally asymptotically sta-
ble.