if G-u ve._ V') 'X C /1- (t: ) '>!

-'7 ~ I

t>->-N ye_ fr e c [,12 t , lz ">'\ ~ 'r) ]

1
?{ r- , Q 'i'l ,
'f(f- ) LL (_-

/+! .S 0, {£ E c_
1
[ l'K +- ) ,rz •n ~ ")'"\ ] ~,1 1 v.. cJri ,t,t--.. ~ ~ ( e ) :- ~ v

g '"C 2..- ~ "C? , ) D J •t . ~ 1 l ~ ~ {t- ) t.. t 2- I ) f f- rP.,

J.. ~ · f- - A7 Ct ) ~ {c- > 1 r:g r t-) A re)+ i rt J { o ,. t- f 'Z

~ </ ( -f > i t O / ')( 0 J t_ p ( t) I p {f O

/ tO/ ?( o ) ! p (f o ) ~ ;1 i ,

iv e.. ~ ' cLQ_ ~

T -, ' tfi T(t) 'S (t") ft' (t J
cl ( - r r/ (t ) + ft ( t ) Cf(~ ) f {t) f r
ckt (j (t-') eg Ct- ) c:f (&) ) :2 1> Cf) gJ ( f)
T T T ' r ) 'f ( t ) f+-(( ) ;£{C )
~ 0 { r) A (c) cg Cc) rp (t-) +-) fr~) g, {t-J %cc-) r f5 {t:

~ Sfi \ t) c1r' ct) ~ (t) + ~ en ,1(t -) --i- er {le ) J <Ir I: ~

{:D - ~ Q)

7 91' (t-) <j ( t- ) ;s {t-) ( ')( OT g, Ct- ) ')-{ 0

L
~> --c_, /If (t-) /) <- '--c'l.. (( >1t> // '.)_

( // ft(t )Jl 5 J 'rf e, tr '>to tr

°i LH ~
 ( t ,te, Me) F (t) 8 ( t . , to*.)
=
(e, ) .
We defi
v/t) (e)
Arso, Cot pcey P e )1)
Vle): g e l 2 e yc) + g'te) pcey
9. To dete sm.ne all eguitbrium poit1, of Syst
nd /x, (k) Suh hat /x, Cke)
Ch)
Ck
a) , Cka) , Ck) +/, (k
Ck) +|12 Ck)
We Consides x, (k) <o and (k) >o
For x, ck)>o,
, (he): z, Ck) ->*2 Ck) + {, Ck) =
K, (L)
*(k)
2 Ck) + z, (k)
C k ) =O

Ck) O0
Since , (lk) :
x :

() is one e ili brium paint.

Now we Cons, dev x, (l)<o.

x, Ck) K lx,ck) -*,Ck)

. (k+d: x ,(l) ) (k) - z,(k) = x,()

) (k
2

Ck 4): Ck) >

Siae z,(k) Ck
2
l ckl )
-7
which i no poss
ble.
Ck)z 0 ano O0)7s the y
Pont
b
+l
Ck4) :2x, (4) z ()
Fr egvr lr b
z, Ck) Ck)- 1: x, (4)
-

k) +l= x2 (k)
2 , Ck) x

a ing 2Hr of d

,k)+l (k)
2

2 x, (k) + 2 : X2 Ck) -1

7 Ck) 2x, Ck) +3 -

Fro O, x, (k) ( x Ck) - ) : 1

Subytiting Ck) frum

x, (k (2x tk) + 2) :
2C)+ 2*, tkJ -I : 0
xCk) 2 4+&

x, Ck) 33
2
Sbshhuhing in
2 Cl)= 2 2 V3

( 2-4) l(-1-5 26) ae t 2

egi libiun poits
 To analy2e stabi lih o Sysm
xCked - sin CrC)

Lya punovs Divect Method

Fisst we will Comider a yapnev Knhen of he

v () P Let t a k e P=/,

. «) x.
>o.
Clearly P has oaly eige value

Pis pesihve debaik Cp)

Now
v(x Cke)) -v(xu): x (k+)"x (k 4)- x (k)z«k)
Sie (x() sin (z¬k) - x(k)'r¬k
Sine x Ck)ssStala
v(zck+i)) - V ck)) sinCk) *Ck)
V: =

nA AV>0 4v<e AvgO.

We need
nd exte m of v.
We l
nll

d VV 2sina Ck) ox (k) - 2x (k) = O

A
Sin 2x (E) : 2x (k)
On
Cn soig gpkinelly, r get a t ) : O.

dv: 2c 2xtkh) -

2
dx

-48in 2xh)
d

-8ta 2x C

x (k) :O ir a ma x im um point. and is the only

maxim um,
x(k): 0 i not aa nPlekon puint Sne : 3 o do

SinO - o o

DV So.

Egoilibriv puio xs0is stable sinee veo

CBared on
1heere lo. oP Lieev
Sy1k beok)
S av so n:0 not aiymphha'y steble,
Lyapunovs lnditeet Mothod
ke): sin (z (k))
weineaiz abouk z- 0
z Ck +): in (z
ck) xk)
/x : 6

.'.Linpeized Sysfem s x(k+) =

xk)
Heve :| hie is on
A:1 w4;h kss only igeavale

o f 1 Pigeavalur .
Unit cixc le. The mulbiphei ty
ofLinpsv Sysan
Theehby heovem 10.9.i tertok
stable.
ineciao iyste is
have het

x Cke) e "x (k)

steble
X : O 1S asymp totically
all eigenVales of
There koe, by he ore. 10.9
unit civele copler plone,
ave win he

a l eyeva lv f .
ob e and
kuu that dhe eigenva lues
We can

igenva lve A Bl he ehon:

Poof

A x +Ax +
:0kt 2

(eA
7 Apa) =0 x

Sie 4 >a
 le

Sin 3)=l,

eI<I

ReCa) <0
all ezena lots aA f A
by 1he n 5.6 e1ilbim o
he syste i :4x is alse asymphlically stmble.
 x(k) z(k) + u c k )
2

y(k) x (k)
BIBO Stabi lity
A , B: C: in the syshem givea

(z) c(z1-4)'s
4(2 -) 2

Only pole in 2

CHG) is l«l matix w eaty)

Sinne tui's pole doer noh lie stittly inide

dhe i cile the systen is no BiBo shallo,.

Lyapudv Srabiliky
Sine A:, it oaly eigeavales .
Sine
Sn is Pigenale lies on the unit ciru Al:
he syste is stable
Sina all eigeaValuves A do not have m4gaivoe
stietly lesser thanthe SysHn is tot asymphikaly
Stable
Appli cahon of he okm 10. 16
Coatoll abilk C L8: Raok (c) I en
Syste is Conalhbo
Obervebilly : O :
Ic] 2 Rank (O): n
Sys hen i's ohse weble
Sin we ktas that the syst is o t atymphohelly
tble
fqlibi um Pont P:O n
S e t as ympoHca lly ste ble

Usin
Using 1kesren lo-1b, we Ca Conclud that
thst sys ie
B180 stable.