2022/10/18

Lecture Six
Time Varying and Perturbed 
Systems (2)

PME 625000 Nonlinear Control Systems
by
Prof. Wang, Pei Jen 1

Boundedness and Ultimate Boundedness
For a scalar equation,
𝑥 𝑥 𝛿𝑠𝑖𝑛𝑡, 𝑥 𝑡 𝑎, 𝑎 𝛿 0.
The equation has no equilibrium point with solution given by
𝑥 𝑡 𝑒 𝑎 𝛿 𝑒 𝑠𝑖𝑛𝜏 𝑑𝜏

For all 𝑡 𝑡 , the solution satisfies the bound as follows

𝑥 𝑡 𝑒 𝑎 𝛿 𝑒 𝑠𝑖𝑛𝜏 𝑑𝜏

𝑒 𝑎 𝛿1 𝑒 𝑎
Hence, the solution is bounded uniformly in 𝑡 , i.e. with a bound
independent of 𝑡 . The exponential term is neglected for the 2
bound.

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Boundedness and Ultimate Boundedness

Drop uniformly for time invariant

Global if a is arbitrarily large

Lyapunov Analysis in Boundedness
Let V(x) be a continuously differentiable positive function and
suppose the sets
Ω 𝑉 𝑥 𝑐 ，Ω 𝑉 𝑥 𝜀 ，Λ 𝜀 𝑉 𝑥 𝑐
Are compact for some 𝑐 𝜀 0.

Suppose 
𝑉 𝑥, 𝑡 𝑓 𝑡, 𝑥 𝑊 𝑥 ， 4

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(cont.)

(cont.) 

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(cont.)

Theorem

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Remarks

Example 4.8

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Example 4.8 (cont.)

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Theorem

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Example 4.9

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Example 4.9 (cont.)

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Perturbed Systems: Nonvanishing Perturbation

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Lemma

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Lemma Proof

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Example 4.10

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Example 4.10 (cont.)

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Lemma

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Lemma Proof
The derivative of 𝑉 𝑥 along the trajectories of the perturbed
system satisfies

Application of Theorem 4.4 complete the proof.

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Example 4.11

𝑔 𝑡, 𝑥

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Input‐to‐State Stability

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Theorem

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(cont.)

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Lemma

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Example 4.12

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Example 4.13

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Example 4.14

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(cont.)

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Lemma

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Example 4.15

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Definition

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Theorem

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Lemma

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Pendulum Homework
• Inverted pendulum problems are most widely used for control 
demo of nonlinear systems.
• Single inverted pendulum: 
https://www.youtube.com/watch?v=‐UTqKqoh‐5A
• Triple inverted pendulum:
https://www.youtube.com/watch?v=cyN‐CRNrb3E
https://www.youtube.com/watch?v=I5GvwWKkBmg
• A flying inverted pendulum: 
https://www.youtube.com/watch?v=15DIidigArA

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