Centro de Investigacin y de Estudios Avanzados del IPN

Unidad Saltillo

Homework: F inal
Student:
Manuel Alejandro Lugo Villeda
Teacher:
PhD. Chidentree Treesatayapun

Final Test analysis and Simulation

With the system as the following, design the control effort u and verify the stability.

ẋ1 = −k1 x1 + sin2 (0.1x2 ) (1)

ẋ2 = −k2 x2 + u (2)

Where :

k1 > 0 k2 > 0 (3)

First Lyapunov function candidate

Selecting the first Lyapunov function candidate as:
1
L1 = x22 > 0 (4)
2
for the (4) Lyapunov function candidate we find the L̇1 as:

L̇1 = x2 ẋ2 ≤ 0 (5)

Let us design the controller as :

u = k2 x2 − kx2 (6)
Finally, L̇ = −kx22 ≤ 0, the designed system is SISL. where:

k>0 (7)

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Simulation
The control law was formulated in Matlab Simulink, and we obtain the behavior of the system.
Replacing (6) into (2) results :

ẋ2 = −kx2 (8)

solving the differential equations (1) and (2) in simulink we obtain x1 and x2 , in the Figure 1
shows the Simulink program

Figure 1: Simulink diagram for L1

the response of x1 and x2 it shows in the Figure 2 and the initial conditions for x1 are 2, for x2
are −6 and for k1 = 0.5, k2 = 0.5 and k = 0.5 is the same value for all of it but is not necessary
maybe can be other constant but it must be major than zero.

Response at control effort u=−k2x2+kx2

2

−2
x

x
1
−4 x
2

−6
0 10 20 30 40 50 60 70 80 90 100
t [s]

Figure 2: Response for x1 and x2 in time

As we can see the x1 is stable in zero and the x2 on to, thats mean, the control u is SISL.

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 Finally if we graphing the solution of the x1 vs x2 we obtain de trajectory of the signal, in
Figure 3 as we can see the trajectory begins in the point (-6,2) and finalized in zero.

Plot of x vs x
1 2
0

−1

−2
2

−3
x

−4

−5

−6
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
x
1

Figure 3: Behavior of x1 and x2 with initial conditions in (5, −5)

Second Lyapunov function candidate

The second Lyapunov function candidate as:
1 2

L2 (x) = x1 + x22 > 0 (9)
2
and L̇ is defined as:

L̇2 (x) = x1 ẋ1 + x2 ẋ2 ≤ 0 (10)

if (1) and (2) then replacing in (10) and obtain L̇ as:

L̇(x) = x1 (−k1 x1 + sin2 (0.1x2 )) + x2 (−k2 x2 + u) (11)

and solving:

L̇(x) = −k1 x21 + x1 sin2 (0.1x2 ) − k2 x22 + ux2 ) (12)

in this equation the controller u is defined as:
x1
u=− sin2 (0.1x2 ) (13)
x2
if we replace (13) in (12) thus:
 
x1
L̇ = −x21 k1 2
+x1 sin (0.1x2 ) − x22 k2 −x2 sin2 (0.1x2 ) (14)
| {z } |{z} x2
stable stable

This two terms are stable then this is te reason of the control effort that I consider.Whit this
control effort the system is SISL.

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Simulation
For the simulation, we applied the same as in the first Lyapunov function candidate but now x2 is
defined as in (14)
solving the differential equations (1) and (2) in simulink we obtain x1 and x2 , in the Figure 4
shows the Simulink program

Figure 4: Simulink diagram for L2

the response of x1 and x2 it shows in the Figure 5 and the initial conditions for x1 are 2, for x2
are −6 and k1 = 4 and k2 = 8, we can propose different kind of constants every constant is major
than zero.
Response at control effort u=−(x /x )sin(0.1x )
1 2 2
2

−2
x

x1
−4 x
2

−6
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
t [s]

Figure 5: Response for x1 and x2 in time

As we can see the x1 and x2 are stable finally if we graphing the solution of the x1 vs x2 we
obtain de trajectory of the signal, in Figure 6 as we can see the trajectory of the signal begins in
the point (2, −6)

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 Trajectory of the x vs x
1 2
0

−1

−2
2
−3
x

−4

−5

−6
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
x1

Figure 6: Behavior of x1 and x2 with initial conditions in (2, −6)

Conclusion
The response of this kind of signals are stable at this kind of control in the second part the control
is to fast in the response, but if we analyze the equation of the signal in the part sin2 (0.1x2 )
always are ≤ 1 so the system at the first candidate function of lyapunov with the control effort u
it’s sufficient.

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