[nonlinear control theory] 1_ Lyapunov direct method

Start taking some time in the evening , Learn slowly DR_CAN Teacher's nonlinear control theory , And take notes .

Lyapunov Direct method

1. Lyapunov You can refer to the previous [ modern control theory ] in [6_ stability _ Lyapunov _Lyapunov]

2. You need to know the definition of several function categories ：PD,PSD,ND,NSD.

3. By selecting the right V, Yes V Function has three states , Conduct Lyapunov Stability determination of .

4. Describes how to V Derivation .

5. Through the example of frictionless pendulum , Choose the function from the perspective of energy V analysis , Stability analysis of the system .

6. After adding friction , Discovery can only judge the stability of the system , It is impossible to judge whether the system is gradually stable , Lead to the next section , Supplement to stability determination , Invariance principle .

[ modern control theory ]11_ Modern control theory _ The end _pdf obtain