Full Name: Ainur Kurmasheva Lab 3

Email: ai kurmasheva@kbtu.kz ID: 20B030166

Course: Theory of NonLinear Control Systems Term: Spring 2023
Instructor: Mr, Kuanysh Yessenzhanov Deadline: 9th April, 2023

Problem 1
Find and classify all the equilibrium solutions to the following differential equations.
a. y ′ = y 2 − y − 6
y′ = y2 − y − 6 = 0
D = 25 then y1 = 3 and y2 = −2. They are equilibrium points. Saddle points.

b. y ′ = (y 2 − 4)(y + 1)2
y′= (y 2 − 4)(y + 1)2 = 0
Then y1 = 2 and y2 = −2 and y3 = −1. They are equilibrium points. Semi-stable points.

Problem 2
Find all equilibrium points and determine the type of each equilibrium:

(
x˙1 = x2
1. x31 Then
x˙2 = −x1 + 6 − x2
(
x˙1 = x2 = 0
x3
x˙2 = −x1 + 61 − x2 = 0
√ √
From this "we have equilibrium
# points at (0; 0), ( 6; 0), (− 6; 0)
0 1
Here A = x2
−1 + 21 −1

We will find A for each equilibrium points.


0 1
For (0;0): A1 =
−1 −1
√ √
3 3
∆(A1 − λI) = λ2 + λ + 1 = 0 Then λ1 = − 21 + 2 i, λ2 = − 12 − 2 i
(0;0) is stable focus.
√
 
0 1
For ( 6; 0): A2 =
2 −1

1
 √
∆(A2 − λI) = λ2 + λ − 2 = 0 Then λ1 = −2, λ2 = 1 ( 6; 0) is saddle.
√ √
For (0; 6): A3 = A2 (0; 6) is saddle.
(
x˙1 = −x1 + x2
2. Then
x˙2 = 0.1x1 − 2x2 − x21 − 0.1x31
(
x˙1 = −x1 + x2 = 0
x˙2 = 0.1x1 − 2x2 − x21 − 0.1x31 = 0

 at (0; 0), (−7.45; −7.45), (−2.55; −2.55)

From this we have equilibrium points
−1 1
Here A =
0.1 − 2x1 − 0.3x21 −2

We will find A for each equilibrium points.

 
−1 1
For (0;0): A1 =
0.1 −2

∆(A1 − λI) = λ2 + 3λ + 1.9 = 0 Then λ1 = −2.09, λ2 = −0.9

(0;0) is stable node.
 
−1 1
For (−7.45; −7.45): A2 =
−1.65 −2

∆(A2 − λI) = λ2 + 3λ + 3.65 = 0 Then λ1 = −1.5 − 1.18i, λ2 = −1.5 + 1.18i

(−7.45; −7.45) is stable focus.
 
−1 1
For (−2.55; −2.55): A2 =
3.249 −2

∆(A2 − λI) = λ2 + 3λ − 1.249 = 0 Then λ1 = −3.37, λ2 = 0.37 (−2.55; −2.55) is

saddle point.
(
x˙1 = (1 − x1 )x1 − 2x 1 x2
1+x1
3. x2
Then
x˙2 = (2 − 1+x 1
)x2
(
x˙1 = (1 − x1 )x1 − 2x 1 x2
1+x1 = 0
x2
x˙2 = (2 − 1+x 1
)x2 = 0

From this "we have equilibrium points at# (0; 0), (1; 0)
2x2 2x1
1 − 2x1 − (1+x 1)
2 − 1+x 1
Here A = 2
x2 2x2
(1+x1 )2
2 − 1+x1

We will find A for each equilibrium points.

 
1 0
For (0;0): A1 =
0 2

∆(A1 − λI) = (1 − λ)(2 − λ) = 0 Then λ1 = 1, λ2 = 2

(0;0) is unstable node.
 
−1 −1
For (1; 0): A2 =
0 2

2
 ∆(A2 − λI) = −(1 + λ)(2 − λ) = 0 Then λ1 = −1, λ2 = 2 (1; 0) is saddle.
(
x˙1 = (x1 − x2 )(x21 + x22 − 1)
4. Then
x˙2 = (x1 + x2 )(x21 + x22 − 1)
(
x˙1 = (x1 − x2 )(x21 + x22 − 1) = 0
x˙2 = (x1 + x2 )(x21 + x22 − 1) = 0

From this we have equilibrium points at (0; 0) and points from x21 + x22 = 1
x2 + x22 − 1 −x21 − x22 + 1
Here A = 12
x1 + x22 − 1 x21 + x22 − 1

We will find A for each equilibrium points.

 
−1 1
For (0;0): A1 =
−1 −1

∆(A1 − λI) = λ2 + 2λ + 2 = 0 Then λ1 = −1 + i, λ2 = −1 − i

(0;0) is stable focus.
(
x˙1 = −x31 + x2
5. Then
x˙2 = x1 − x32
(
x˙1 = −x31 + x2 = 0
x˙2 = x1 − x32 = 0
From this we have equilibrium points at (0; 0), (−1; −1), (1; 1)
−3x21

1
Here A =
1 −3x22

We will find A for each equilibrium points.

 
0 1
For (0;0): A1 =
1 0

∆(A1 − λI) = (λ − 1)(λ + 1) = 0 Then λ1 = 1, λ2 = −1

(0;0) is saddle.
 
−3 1
For (−1; −1): A2 =
1 −3

∆(A2 − λI) = λ2 + 6λ + 8 = 0 Then λ1 = −2, λ2 = −4 (−1; −1) is satable node.

For (1; 1): A3 = A2 (1; 1) is stable node.
(
x˙1 = (1 − xx21 )
6. Then
x˙2 = − xx12 (1 − xx12 )
(
x˙1 = (1 − xx12 ) = 0
x˙2 = − xx12 (1 − xx12 ) = 0
From this we have equilibrium points at x1 = x2 , while x2 ̸= 0. So we will take (1;1)
x1
− x12
" #
x22
Here A = 2x1 −x2 2x2 +x x
x2
− 1 x3 1 2
2 2

We will find A for equilibrium point.

3
  
−1 1
For (1;1): A1 =
1 −1

∆(A1 − λI) = λ(2 + λ) = 0 Then λ1 = 0, λ2 = −2

(1;1) is asymptotically stable.

Problem 3
For all positive values of a, b and c, determine the equilibrium points of the system
x˙1 = ax1 − x1 x2
x˙2 = bx21 − cx2
and(determine the type of equilibrium.
x˙1 = ax1 − x1 x2
Then
x˙2 = bx21 − cx2
(
x˙1 = ax1 − x1 x2 = 0
x˙2 = bx21 − cx2 = 0
 
p ca p ca a − x2 −x1
Here we have three equilibrium points (0; 0), ( b ; a), ( − b ; a). A =
2bx1 −c
We will find A for each equilibrium points.

For (0;0):
a 0
A1 =
0 −c
∆(A1 − λI) = (a − λ)(c + λ) Then λ1 = a > 0, λ2 = −c < 0 Then it is saddle.

For ( ca
p
b ; a)
 p ca 
0 −
A2 = √ b
2 abc −c
√
2
∆(A2 − λI) = (a − λ)(c + λ) Then λ2 + λc + 2ac = 0, λ1,2 = −c± c −8ac2
In this case, if c > 8a then the point is a stable node. If c < 8a then the point is the stable
focus because
p it will be complex.
For (− ca b ; a)
 p ca 
√0 b
A3 =
−2 abc −c
And here eigenvalues are the same as at point ( ca
p
b ; a).

Problem 4

(a) For all values of the gain K, determine the equilibrium points of the closed loop

4
system.
(b) Determine the equilibrium character of the origin for all values of the parameter K.
Determine in particular for what values the closed loop system is (locally) asymptotically
stable.



 x˙1 = (u − x1 )(1 + x22 )
x˙ = (x − 2x )(1 + x2 )

2 1 2 1
Then
y = x2



u = −Ky

(
x˙1 = (−Kx2 − x1 )(1 + x22 ) = 0
x˙2 = (x1 − 2x2 )(1 + x21 ) = 0
From this we have equilibrium points at x1 = 2x2 and x1 = −Kx2 , we take K=-2. So we
will take (0;0)
−1 − x22 K − 3x22 K − 2x1 x2
 
Here A =
1 + 3x21 − 4x1 x2 −2 − 2x21
We will find A for equilibrium point.
 
−1 K
For (0;0): A1 =
1 −2
√ √
−3+ 1−4K −3− 1−4K
∆(A1 − λI) = λ2 + 3λ + 2 + K = 0 Then λ1 = 2 , λ2 = 2
So when K¿-2 it is stable.
1 − 4K < 0 Then when K > 14 it is stable focus.
When −2 < K < 41 it is stable node.
When K < −2 it is saddle.

Problem 5
Find the phase portraits of the following two systems. Discuss the qualitative behavior of
each system.

5
 1. So here origin is the equilibrium point and it is a stable focus

2. In this case we can say that origin is the stable focus.

Problem 6
Receive phase trajectories of all equilibrium points for a second order system using Matlab:

6
1. Stable node

2. Unstable node

7
3. Stable focus

4. Unstable focus

8
5. Saddle point

6. Center points