Contral of Nonlinear Dynamie Systems: Theory and Applications JK. Hedrick and A. Girard ©2010 Consider the system described by the equation: x= fs) then d= 2! dx + f(x, dx) => dé = Ade + h(x, dx) Lyapunov proved that the eigenvalues of A indicate “local” stability of the nonlinear system about the equilibrium point if: Pe (em . o a) lim aq 0 (“The linear terms dominate”) ) There are no eigenvalues with zero real part. Consider the equation: marta? Ifx is small enough, then ax >> x? ‘Thought question: What if'a = 0? Example: Simplified satellite control problem, Built in the 1960s, 36Contral of Nonlinear Dynamie Systems: Theory and Applications JK. Hedrick and A. Girard ©2010 After about one month, would run out of gas. How was the controller designed? T6 =T(0,6) Let's pick 0,,, Tb = -c0-c,6 It’ cold in space: the valves would freeze open. If @ and 6 are small, there is not enough torque to break the ice, so the valves get frozen open and all the gas escapes. One solution is either relay control and / or bang-bang control. (These methods are inelegant). Pick w=T/T,and 6 dou do 6 Pick u= 0, The satellite just floats. 37Control of Nonlinear Dynamie Systems: Theory and Applications JK. Hedrick and A. Girard ©2010 case 2: ow. 2 i. 648 - Ln as -0 we 6 a =UmO= Gk Spore dagsrdana, em i | T 1