Stabilization of Lur’e-type nonlinear control systems by Lyapunov-Krasovskii functionals
- 2.1k Downloads
The paper deals with the stabilization problem of Lur’e-type nonlinear indirect control systems with time-delay argument. The sufficient conditions for absolute stability of the control system are established in the form of matrix algebraic inequalities and are obtained by the direct Lyapunov method.
MSC:34H15, 34K20, 93C10, 93D05.
KeywordsLyapunov functional absolute stability time-delay argument stabilization
One of the problems of stability motion is the problem of absolute stability. The problems of absolute stability of nonlinear control systems arise in solving practical tasks. In technical control systems, the control function is the function of one variable located between two lines in the first and third quarters of the coordinate plane. The stability of the control system with a control function located in this sector is referred to, for example, in [1, 2, 3, 4, 5, 6]. Originally, the control systems of ordinary differential equations were considered. The systems with aftereffect, that better describe the real processes, become an object of study later, e.g., in [3, 4, 7, 8]. Some nonlinear systems with indirect regulation and delay argument are considered in [9, 10]. The sufficient conditions of absolute interval stability are derived in the papers [3, 6] by Lyapunov-Krasovskii functionals in the form of the sum of the quadratic form and the integral of nonlinear components of the considered system, and by the so-called S-program the coefficients of the exponential decay of solutions are calculated. But, in the case when the conditions of the theorems quoted there are not met, the linear feedback method is used to stabilize the system.
The main goal of the paper is to solve the problem of stabilization of an indirect control system. The sufficient conditions for absolute stability of the control system are obtained using Lyapunov-Krasovskii functionals which contain an exponential multiplier.
where and ξ is a real parameter.
The paper is organized as follows. Since for the one-dimensional process it is possible to get simple explicit criteria, Section 2 deals with the stabilization of one-dimensional processes described by two scalar equations with delay. Then the indirect control system in the general matrix form is considered in Section 3.
2 Stabilization of one-dimensional processes
Definition 1 The continuous vector function is said to be a solution of (1), (2) on if is continuously differentiable on and satisfies the system (1), (2) on .
Definition 2 The system (1), (2) is called absolutely stable if the trivial solution of the system (1), (2) is globally asymptotically stable for an arbitrary function satisfying (3).
Our first result is the theorem on absolute stability for the considered system (1), (2).
Theorem 1 Suppose that there exist constants , , , and such that the matrix is positive definite. Then the system (1), (2) is absolutely stable.
where the last term can be derived using the right-hand part of ‘sector condition’ (3), we deduce the absolute stability of the system (1), (2) (we also refer to a theorem by Krasovskii in [, Theorem 2, p.145]). □
and are suitable constants, and .
Then we can apply the following result.
the inequality (14) can be written in the form (8). If this inequality holds, then obviously (12) and (13) hold as well. Moreover, it is easy to see that it is possible to find parameters and such that the inequality (8) is fulfilled. □
3 Stabilization of the indirect control systems with matrix coefficients
where , is the n-dimensional column vector function of the state, σ is the scalar function of the control defined on , A and B are constant matrices, is an n-dimensional constant column vector, is an n-dimensional constant row vector, and are constants, and is a continuous nonlinear function on ℝ satisfying sector condition (3).
where H and G are constant positive definite symmetric matrices, and ξ and β are positive constants.
where is an n-dimensional zero column vector.
Theorem 3 Suppose that there exist positive definite symmetric matrices H, G and constants , such that the matrix is positive definite. Then the system (15), (16) is absolutely stable.
where the last term can be derived using the right-hand part of sector condition (3), we deduce the absolute stability of the system (15), (16) (we also refer to a theorem by Krasovskii in [, Theorem 2, p.145]). □
and are constant matrices (the so-called control matrices), and . Our task is to find conditions on the matrices , such that the system (18), (19) will be absolutely stable.
We will need some auxiliary results from the theory of matrices.
Lemma 1 
Then the matrix S is positive definite if and only if the matrices A and are positive definite.
Lemma 2 [, Frobenius formula]
- (1)The matrices(21)
- (2)The number(23)
Then the system (18), (19) is absolutely stable.
is positive definite due to (22).
and is valid due to (23).
Consequently, the system with control of the form (18), (19) is absolutely stable if there exist matrices , in (20) such that conditions (21)-(23) are valid. □
Remark 1 Let us recall the well-known facts that for the validity of Theorem 1, it is necessary that and for the validity of Theorem 3, it is necessary that all characteristic values of the matrix A have negative real parts.
The authors would like to thank the following for their support: The first and the third authors were supported by the National Scholarship Program of the Slovak Republic (SAIA), the second author was supported by Grant P201/11/0768 of the Czech Grant Agency (Prague), the fourth author was supported by the Grant Agency of the Slovak republic (VEGA 1/0090/09). The authors would like to thank the referees and the editor for helpful suggestions incorporated into this paper.
- 1.Aizerman MA, Gantmacher FR: Absolute Stability of Regulator Systems. Holden-Day, San Francisco; 1964.Google Scholar
- 2.Lur’e AI: Some Problems in the Theory of Automatic Control. H.M. Stationary Office, London; 1957.Google Scholar
- 7.Khusainov DY, Shatyrko AV: Lyapunov Functions Method in Investigation of Functional-Differential Systems. Kiev National University Publ., Kiev; 1997. (In Russian)Google Scholar
- 8.Korenevskiy DG: Dynamical Systems Stability under Random Perturbation of Parameters. Algebraic Criteria. Naukova Dumka, Kiev; 1989. (In Russian)Google Scholar
- 9.Shatyrko AV, Khusainov DY: Absolute stability conditions construction of non-direct regulator systems by Lyapunov-Krasovskiy functional. Bull. Kyiv Univ., Ser. Phys. & Math. 2009, 4: 145–152. (In Ukrainian)Google Scholar
- 10.Shatyrko AV, Khusainov DY: Stability of Nonlinear Control Systems with Aftereffect. Inform.-Analit. Agency Publ., Kiev; 2012.Google Scholar
- 11.El’sgol’ts LE, Norkin SB: Introduction to the Theory of Differential Equations with Deviating Argument. 2nd edition. Nauka, Moscow; 1971. (In Russian)Google Scholar
- 12.Gantmacher FR: Theory of Matrices. Nauka, Moscow; 1988. (In Russian)Google Scholar
This article is published under license to BioMed Central Ltd. This is an Open Access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/2.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.