scholarly journals Probabilistic Basin of Attraction and Its Estimation Using Two Lyapunov Functions

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-9
Author(s):  
Skuli Gudmundsson ◽  
Sigurdur Hafstein
Keyword(s):  
Asymptotic Stability ◽  
Lyapunov Functions ◽  
Basin Of Attraction ◽  
Small Probability ◽  
Null Solution ◽  
Asymptotic Stability In Probability ◽  
System Properties ◽  
Ito Process ◽  
Probabilistic Version ◽  
The Basin Of Attraction

We study stability for dynamical systems specified by autonomous stochastic differential equations of the form dX(t)=f(X(t))dt+g(X(t))dW(t), with (X(t))t≥0 an Rd-valued Itô process and (W(t))t≥0 an RQ-valued Wiener process, and the functions f:Rd→Rd and g:Rd→Rd×Q are Lipschitz and vanish at the origin, making it an equilibrium for the system. The concept of asymptotic stability in probability of the null solution is well known and implies that solutions started arbitrarily close to the origin remain close and converge to it. The concept therefore pertains exclusively to system properties local to the origin. We wish to address the matter in a more practical manner: Allowing for a (small) probability that solutions escape from the origin, how far away can they then be started? To this end we define a probabilistic version of the basin of attraction, the γ-BOA, with the property that any solution started within it stays close and converges to the origin with probability at least γ. We then develop a method using a local Lyapunov function and a nonlocal one to obtain rigid lower bounds on γ-BOA.

Asymptotic stability, an in-depth treatment

2012 ◽  
Author(s):  
Rafal Goebel ◽  
Ricardo G. Sanfelice ◽  
Andrew R. Teel
Keyword(s):  
Asymptotic Stability ◽  
Lyapunov Function ◽  
Hybrid Systems ◽  
Basin Of Attraction ◽  
Asymptotically Stable ◽  
Compact Sets ◽  
Stable Sets ◽  
Bounded Set ◽  
Well Posed ◽  
The Basin Of Attraction

This chapter defines local pre-asymptotic stability for a compact (closed and bounded) set and studies its properties for systems that are nominally well-posed or well-posed. While Chapter 3 dealt with global (and uniform) pre-asymptotic stability, the more general local pre-asymptotic stability is studied in this chapter, although for the more restrictive case of compact sets. Properties of the basin of attraction and uniformity of convergence are here analyzed, and some general examples of locally pre-asymptotically stable sets are given. The chapter reveals that, for nominally well-posed hybrid systems, pre-asymptotic stability turns out to be equivalent to uniform pre-asymptotic stability. For well-posed systems, pre-asymptotic stability turns out to be equivalent to uniform, robust pre-asymptotic stability and implies the existence of a Smooth Lyapunov function.

scholarly journals Optimization and Stability of Heat Engines: The Role of Entropy Evolution

Entropy ◽  
2018 ◽  
Vol 20 (11) ◽  
pp. 865 ◽  
Author(s):  
Julian Gonzalez-Ayala ◽  
Moises Santillán ◽  
Maria Santos ◽  
Antonio Calvo Hernández ◽  
José Mateos Roco
Keyword(s):  
Local Stability ◽  
Production Efficiency ◽  
Basin Of Attraction ◽  
Heat Engine ◽  
Time Constraints ◽  
Thermal Gradients ◽  
Heat Engines ◽  
Low Dissipation ◽  
The Basin Of Attraction

Local stability of maximum power and maximum compromise (Omega) operation regimes dynamic evolution for a low-dissipation heat engine is analyzed. The thermodynamic behavior of trajectories to the stationary state, after perturbing the operation regime, display a trade-off between stability, entropy production, efficiency and power output. This allows considering stability and optimization as connected pieces of a single phenomenon. Trajectories inside the basin of attraction display the smallest entropy drops. Additionally, it was found that time constraints, related with irreversible and endoreversible behaviors, influence the thermodynamic evolution of relaxation trajectories. The behavior of the evolution in terms of the symmetries of the model and the applied thermal gradients was analyzed.

Recursive Lyapunov Functions

1989 ◽  
Vol 111 (4) ◽  
pp. 641-645 ◽  
Author(s):  
Andrzej Olas
Keyword(s):  
Asymptotic Stability ◽  
Lyapunov Function ◽  
Exponential Stability ◽  
Performance Measures ◽  
Lyapunov Functions ◽  
Stability Problem ◽  
Autonomous Systems ◽  
Sequence Of Functions

The paper presents the concept of recursive Lyapunov function. The concept is applied to investigation of asymptotic stability problem of autonomous systems. The sequence of functions {Uα(i)} and corresponding performance measures λ(i) are introduced. It is proven that λ(i+1) ≤ λ(i) and in most cases the inequality is a strong one. This fact leads to a concept of a recursive Lyapunov function. For the very important applications case of exponential stability the procedure is effective under very weak conditions imposed on the function V = U(0). The procedure may be particularly applicable for the systems dependent on parameters, when the Lyapunov function determined from one set of parameters may be employed at the first step of the procedure.

scholarly journals Time Delay and Feedback Control of an Inverted Pendulum With Stick Slip Friction

2007 ◽  
Author(s):  
Sue Ann Campbell ◽  
Stephanie Crawford ◽  
Kirsten Morris
Keyword(s):  
Time Delay ◽  
Basin Of Attraction ◽  
Critical Time ◽  
Viscous Friction ◽  
Experimental System ◽  
Friction Model ◽  
Stable Equilibrium Point ◽  
Feedback Controllers ◽  
Stick Slip ◽  
The Basin Of Attraction

We consider an experimental system consisting of a pendulum, which is free to rotate 360 degrees, attached to a cart which can move in one dimension. There is stick slip friction between the cart and the track on which it moves. Using two different models for this friction we design feedback controllers to stabilize the pendulum in the upright position. We show that controllers based on either friction model give better performance than one based on a simple viscous friction model. We then study the effect of time delay in this controller, by calculating the critical time delay where the system loses stability and comparing the calculated value with experimental data. Both models lead to controllers with similar robustness with respect to delay. Using numerical simulations, we show that the effective critical time delay of the experiment is much less than the calculated theoretical value because the basin of attraction of the stable equilibrium point is very small.

Stable running of a planar underactuated biped robot

Robotica ◽  
2010 ◽  
Vol 29 (5) ◽  
pp. 657-665 ◽  
Author(s):  
Yong Hu ◽  
Gangfeng Yan ◽  
Zhiyun Lin
Keyword(s):  
Limit Cycle ◽  
Stance Phase ◽  
Control Strategies ◽  
Basin Of Attraction ◽  
Biped Robot ◽  
State Spaces ◽  
Continuous State ◽  
Event Based ◽  
Telescopic Legs ◽  
The Basin Of Attraction

SUMMARYThis paper investigates the stable-running problem of a planar underactuated biped robot, which has two springy telescopic legs and one actuated joint in the hip. After modeling the robot as a hybrid system with multiple continuous state spaces, a natural passive limit cycle, which preserves the system energy at touchdown, is found using the method of Poincaré shooting. It is then checked that the passive limit cycle is not stable. To stabilize the passive limit cycle, an event-based feedback control law is proposed, and also to enlarge the basin of attraction, an additive passivity-based control term is introduced only in the stance phase. The validity of our control strategies is illustrated by a series of numerical simulations.

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