Introduction to Nonlinear Control

Lecture # 6

State Feedback Stabilization

– p. 1/5
 Backstepping

η̇ = f (η) + g(η)ξ
ξ̇ = fa (η, ξ) + ga (η, ξ)u
η ∈ Rn , ξ, u ∈ R, ga (η, ξ) 6= 0

Stabilize the origin using state feedback

View ξ as “virtual” control input to

η̇ = f (η) + g(η)ξ

Design ξ = φ(η) to stabilize the origin of

η̇ = f (η) + g(η)φ(η)
∂V
[f (η) + g(η)φ(η)] ≤ −W (η), ∀η∈D
∂η

– p. 2/5
 z = ξ − φ(η)

η̇ = [f (η) + g(η)φ(η)] + g(η)z

∂φ
ż = fa (η, ξ) + ga (η, ξ)u − [f (η) + g(η)ξ]
∂η

Vc (η, ξ) = V (η) + 12 z 2

∂V ∂V
V̇c = [f (η) + g(η)φ(η)] + g(η)z
∂η ∂η
 
∂φ
+ z fa (η, ξ) + ga (η, ξ)u − [f (η) + g(η)ξ]
∂η

– p. 3/5
 
∂V
V̇c ≤ −W (η) + z g(η) + fa (η, ξ)
∂η

∂φ
+ ga (η, ξ)u − [f (η) + g(η)ξ]
∂η


1 ∂φ
u = −fa (η, ξ) + [f (η) + g(η)ξ]
ga (η, ξ) ∂η

∂V
− g(η) − kz , k>0
∂η

V̇c ≤ −W (η) − kz 2

– p. 4/5
Example

ẋ1 = x21 − x31 + x2 , ẋ2 = u

ẋ1 = x21 − x31 + x2

x2 = φ(x1 ) = −x21 − x1 ⇒ ẋ1 = −x1 − x31

V (x1 ) = 12 x21 ⇒ V̇ = −x21 − x41 , ∀ x1 ∈ R

z2 = x2 − φ(x1 ) = x2 + x1 + x21

ẋ1 = −x1 − x31 + z2

ż2 = u + (1 + 2x1 )(−x1 − x31 + z2 )

– p. 5/5
 Vc (x) = 12 x21 + 21 z22

V̇c = x1 (−x1 − x31 + z2 )

+ z2 [u + (1 + 2x1 )(−x1 − x31 + z2 )]

V̇c = −x21 − x41

+ z2 [x1 + (1 + 2x1 )(−x1 − x31 + z2 ) + u]

u = −x1 − (1 + 2x1 )(−x1 − x31 + z2 ) − z2

V̇c = −x21 − x41 − z22

V̇c = −x21 − x41 − (x2 + x1 + x21 )2

– p. 6/5
Example

ẋ1 = x21 − x31 + x2 , ẋ2 = x3 , ẋ3 = u

ẋ1 = x21 − x31 + x2 , ẋ2 = x3

def
x3 = −x1 − (1 + 2x1 )(−x1 − x31 + z2 ) − z2 = φ(x1 , x2 )

V (x) = 12 x21 + 21 z22 , V̇ = −x21 − x41 − z22

z3 = x3 − φ(x1 , x2 )

ẋ1 = x21 − x31 + x2 , ẋ2 = φ(x1 , x2 ) + z3

∂φ 2 3 ∂φ
ż3 = u − (x1 − x1 + x2 ) − (φ + z3 )
∂x1 ∂x2

– p. 7/5
 Vc = V + 12 z32

∂V ∂V
V̇c = (x21 − x31 + x2 ) + (z3 + φ)
∂x1 ∂x2
 
∂φ 2 3 ∂φ
+ z3 u − (x1 − x1 + x2 ) − (z3 + φ)
∂x1 ∂x2

V̇c = −x21 − x41 − (x2 + x1 + x21 )2

 
∂V ∂φ 2 3 ∂φ
+z3 − (x1 − x1 + x2 ) − (z3 + φ) + u
∂x2 ∂x1 ∂x2

∂V ∂φ ∂φ
u=− + (x21 − x31 + x2 ) + (z3 + φ) − z3
∂x2 ∂x1 ∂x2

– p. 8/5
 Strict-Feedback Form

ẋ = f0 (x) + g0 (x)z1
ż1 = f1 (x, z1 ) + g1 (x, z1 )z2
ż2 = f2 (x, z1 , z2 ) + g2 (x, z1 , z2 )z3
..
.
żk−1 = fk−1 (x, z1 , . . . , zk−1 ) + gk−1 (x, z1 , . . . , zk−1 )zk
żk = fk (x, z1 , . . . , zk ) + gk (x, z1 , . . . , zk )u

gi (x, z1 , . . . , zi ) 6= 0 for 1 ≤ i ≤ k

– p. 9/5
Example (Recall from Lecture # 5)

η̇ = −η + η 2 ξ, ξ̇ = u Not Feedback Linearizable

u = −kξ, k > 0, achieves semiglobal stabilization

η̇ = −η + η 2 ξ
ξ = 0 ⇒ η̇ = −η
V0 = 12 η 2 ⇒ V̇0 = −η 2 , ∀ η ∈ R

V = 12 (η 2 + ξ2 )

V̇ = η(−η + η 2 ξ) + ξu = −η 2 + ξ(η 3 + u)

u = −η 3 −kξ, k > 0 ⇒ V̇ = −η 2 −kξ2 Global stabilization

– p. 10/5
 Passivity Based Control

ẋ = f (x, u), y = h(x)

f (0, 0) = 0

T ∂V
u y ≥ V̇ = f (x, u)
∂x
Theorem 14.4: If the system is
(1) passive with a radially unbounded positive definite
storage function and
(2) zero-state observable,
then the origin can be globally stabilized by

u = −φ(y), φ(0) = 0, y T φ(y) > 0 ∀ y 6= 0

– p. 11/5
Proof:
∂V
V̇ = f (x, −φ(y)) ≤ −y T φ(y) ≤ 0
∂x

V̇ (x(t)) ≡ 0 ⇒ y(t) ≡ 0 ⇒ u(t) ≡ 0 ⇒ x(t) ≡ 0

Apply the invariance principle

A given system may be made passive by

(1) Choice of output,
(2) Feedback,
or both

– p. 12/5
 Choice of Output

∂V
ẋ = f (x) + G(x)u, f (x) ≤ 0, ∀x
∂x
No output is defined. Choose the output as
 T
def ∂V
y = h(x) = G(x)
∂x

∂V ∂V
V̇ = f (x) + G(x)u ≤ y T u
∂x ∂x
Check zero-state observability

– p. 13/5
Example
ẋ1 = x2 , ẋ2 = −x31 + u

V (x) = 14 x41 + 12 x22

With u = 0 V̇ = x31 x2 − x2 x31 = 0

∂V ∂V
Take y = G= = x2
∂x ∂x2
Is it zero-state observable?

with u = 0, y(t) ≡ 0 ⇒ x(t) ≡ 0

u = −kx2 or u = −(2k/π) tan−1 (x2 ) (k > 0)

– p. 14/5
 Feedback Passivation

Definition: The system

ẋ = f (x) + G(x)u, y = h(x)

is equivalent to a passive system if there is

u = α(x) + β(x)v

such that

ẋ = f (x) + G(x)α(x) + G(x)β(x)v, y = h(x)

is passive

– p. 15/5
Theorem [31]: The system

ẋ = f (x) + G(x)u, y = h(x)

is locally equivalent to a passive system (with a positive

definite storage function) if it has relative degree one at
x = 0 and the zero dynamics have a stable equilibrium
point at the origin with a positive definite Lyapunov function

Example: m-link Robot Manipulator

M (q)q̈ + C(q, q̇)q̇ + D q̇ + g(q) = u

M = M T > 0, (Ṁ − 2C)T = −(Ṁ − 2C), D = D T ≥ 0

– p. 16/5
Stabilize the system at q = qr

e = q − qr , ė = q̇

M (q)ë + C(q, q̇)ė + D ė + g(q) = u

(e = 0, ė = 0) is not an open-loop equilibrium point
u = g(q) − φp (e) + v, [φp (0) = 0, eT φp (e) > 0 ∀e 6= 0]
M (q)ë + C(q, q̇)ė + D ė + φp (e) = v
Z e
V = 12 ėT M (q)ė + φTp (σ) dσ
0

V̇ = 21 ėT (Ṁ −2C)ė−ėT D ė−ėT φp (e)+ėT v+φTp (e)ė ≤ ėT v

y = ė

– p. 17/5
Is it zero-state observable? Set v = 0

ė(t) ≡ 0 ⇒ ë(t) ≡ 0 ⇒ φp (e(t)) ≡ 0 ⇒ e(t) ≡ 0

v = −φd (ė), [φd (0) = 0, ėT φd (ė) > 0 ∀ė 6= 0]

u = g(q) − φp (e) − φd (ė)
Special case:

u = g(q) − Kp e − Kd ė, Kp = KpT > 0, Kd = KdT > 0

– p. 18/5
How does passivity-based control compare with feedback
linearization?

Example 13.20

ẋ1 = x2 , ẋ2 = −h(x1 ) + u

h(0) = 0, x1 h(x1 ) > 0, ∀ x1 6= 0

Feedback linearization:

u = h(x1 ) − (k1 x1 + k2 x2 )
" #
0 1
ẋ = x
−k1 −k2

– p. 19/5
Passivity-based control:
Z x1
V = h(z) dz + 12 x22
0

V̇ = x2 h(x1 ) − x2 h(x1 ) + x2 u = x2 u
Take y = x2
With u = 0, y(t) ≡ 0 ⇒ h(x1 (t)) ≡ 0 ⇒ x1 (t) ≡ 0
u = −σ(x2 ), [σ(0) = 0, yσ(y) > 0 ∀ y 6= 0]
ẋ1 = x2 , ẋ2 = −h(x1 ) − σ(x2 )

– p. 20/5
Linearization:
" #
0 1
, k = σ ′ (0)
−h′ (0) −k

s2 + ks + h′ (0) = 0
Sketch the root locus as k varies from zero to infinity

One of the p
two roots cannot be moved to the left of
Re[s] = − h′ (0)

– p. 21/5
Cascade Connection:

ż = fa (z) + F (z, y)y, ẋ = f (x) + G(x)u, y = h(x)

fa (0) = 0, f (0) = 0, h(0) = 0

∂V ∂V
f (x) + G(x)u ≤ y T u
∂x ∂x
∂W
fa (z) ≤ 0
∂z
U (z, x) = W (z) + V (x)
"  T #
∂W T T ∂W
U̇ ≤ F (z, y)y + y u = y u + F (z, y)
∂z ∂z

– p. 22/5
  T
∂W
u=− F (z, y) + v ⇒ U̇ ≤ y T v
∂z

The system

ż = fa (z) + F (z, y)y

 T
∂W
ẋ = f (x) − G(x) F (z, y) + G(x)v
∂z
y = h(x)

with input v and output y is passive with U as the storage

function

Read Examples 14.17 and 14.18

– p. 23/5
 Sliding Mode Control

Example

ẋ1 = x2 ẋ2 = h(x) + g(x)u, g(x) ≥ g0 > 0

Sliding Manifold (Surface):

s = a1 x1 + x2 = 0

s(t) ≡ 0 ⇒ ẋ1 = −a1 x1

a1 > 0 ⇒ lim x1 (t) = 0
t→∞

How can we bring the trajectory to the manifold s = 0?

How can we maintain it there?

– p. 24/5
 ṡ = a1 ẋ1 + ẋ2 = a1 x2 + h(x) + g(x)u

Suppose
 
 a1 x2 + h(x) 
  ≤ ̺(x)
 g(x) 

V = 12 s2

V̇ = sṡ = s[a1 x2 +h(x)]+g(x)su ≤ g(x)|s|̺(x)+g(x)su

β(x) ≥ ̺(x) + β0 , β0 > 0
s > 0, u = −β(x)

V̇ ≤ g(x)|s|̺(x) − g(x)β(x)|s|

V̇ ≤ g(x)|s|̺(x) − g(x)(̺(x) + β0 )|s| = −g(x)β0 |s|

– p. 25/5
 s < 0, u = β(x)

V̇ ≤ g(x)|s|̺(x) + g(x)su = g(x)|s|̺(x) − g(x)β(x)|s|

V̇ ≤ g(x)|s|̺(x) − g(x)(̺(x) + β0 )|s| = −g(x)β0 |s|

(
1, s>0
sgn(s) =
−1, s<0

u = −β(x) sgn(s)

V̇ ≤ −g(x)β0 |s| ≤ −g0 β0 |s|

√
V̇ ≤ −g0 β0 2V

– p. 26/5
 √
V̇ ≤ −g0 β0 2V

dV √
√ ≤ −g0 β0 2 dt
V

√ V (s(t)) √
2 V  ≤ −g0 β0 2 t
V (s(0))
p p 1
V (s(t)) ≤ V (s(0)) − g0 β0 √ t
2
|s(t)| ≤ |s(0)| − g0 β0 t
s(t) reaches zero in finite time
Once on the surface s = 0, the trajectory cannot leave it

– p. 27/5
 s=0

What is the region of validity?

– p. 28/5
 ẋ1 = x2 ẋ2 = h(x) − g(x)β(x)sgn(s)

ẋ1 = −a1 x1 + s ṡ = a1 x2 + h(x) − g(x)β(x)sgn(s)

sṡ ≤ −g0 β0 |s|, if β(x) ≥ ̺(x) + β0
V1 = 21 x21

V̇1 = x1 ẋ1 = −a1 x21 + x1 s ≤ −a1 x21 + |x1 |c ≤ 0

c
∀ |s| ≤ c and |x1 | ≥
a1
 
c
Ω= |x1 | ≤ , |s| ≤ c
a1
 
 a1 x2 + h(x) 
Ω is positively invariant if   ≤ ̺(x) over Ω
g(x) 
– p. 29/5
  
c
Ω= |x1 | ≤ , |s| ≤ c
a1
x2 6
s=0 H
HHH HH
HH HHc
HH HH
HH c/a1 -
HH
HH HH x1
HH HH
HH HH
HH HH
H H
 
 a1 x2 + h(x) 
  ≤ k1 < k, ∀ x ∈ Ω
 g(x) 

u = −k sgn(s)

– p. 30/5
Chattering
B Sliding manifold
B
B
B


B

 B

H
HH B
s < 0 BH Y s>0
B


B
 B

H
HH B a
B HH
B YH
H

How can we reduce or eliminate chattering?

– p. 31/5
Reduce the amplitude of the signum function

ṡ = a1 x2 + h(x) + g(x)u

[a1 x2 + ĥ(x)]
u=− +v
ĝ(x)
ṡ = δ(x) + g(x)v
 
g(x) g(x)
δ(x) = a1 1 − x2 + h(x) − ĥ(x)
ĝ(x) ĝ(x)
 
 δ(x) 
  ≤ ̺(x), β(x) ≥ ̺(x) + β0
 g(x) 

v = −β(x) sgn(s)

– p. 32/5
Replace the signum function by a high-slope saturation
function  
s
u = −β(x) sat
ε
(
y, if |y| ≤ 1
sat(y) =
sgn(y), if |y| > 1
y

sgn(y) 6 sat ε 6
1 1

-  -
y  ε y

−1  −1

– p. 33/5
How can we analyze the system?

For |s| ≥ ε, u = −β(x) sgn(s)

With c ≥ ε
n o
c
Ω = |x1 | ≤ a1
, |s| ≤ c is positively invariant

The trajectory reaches the boundary layer {|s| ≤ ε}in

finite time

The boundary layer is positively invariant

– p. 34/5
Inside the boundary layer:
s
ẋ1 = −a1 x1 + s ṡ = a1 x2 + h(x) − g(x)β(x)
ε

x1 ẋ1 ≤ −a1 x21 + |x1 |ε

0<θ<1
ε
x1 ẋ1 ≤ −(1 − θ)a1 x21 , ∀ |x1 | ≥
θa1
The trajectories reach the positively invariant set
ε
Ωε = {|x1 | ≤ , |s| ≤ ε}
θa1

in finite time
– p. 35/5
What happens inside Ωε ?

Find the equilibrium points

s
0 = −a1 x1 + s = x2 , 0 = a1 x2 + h(x) − g(x)β(x)
ε

h(x) 
φ(x1 ) = 
a1 g(x)β(x) x2 =0
x1 = εφ(x1 )
Suppose x1 = εφ(x1 ) has an isolated solution x̄1 = εk1

h(0) = 0 ⇒ x̄1 = 0

– p. 36/5
 z1 = x1 − x̄1 , z2 = s − a1 x̄1

x2 = −a1 x1 + s = −a1 (x1 − x̄1 ) + s − a1 x̄1 = −a1 z1 + z2

ż1 = ẋ1 = x2 = −a1 z1 + z2

s
ż2 = a1 x2 + h(x) − g(x)β(x)
ε
z2 + a1 x̄1
= a1 (z2 − a1 z1 ) + h(x) − g(x)β(x)
ε
z2
ż2 = ℓ(z) − g(x)β(x)
ε
 
h(x) x̄1
ℓ(z) = a1 (z2 − a1 z1 ) + a1 g(x)β(x) −
a1 g(x)β(x) ε

– p. 37/5
 z2
ż1 = −a1 z1 + z2 , ż2 = ℓ(z) − g(x)β(x)
ε
ℓ(0) = 0, |ℓ(z)| ≤ ℓ1 |z1 | + ℓ2 |z2 |
g(x)β(x) ≥ g0 β0
V = 12 z12 + 12 z22
 
z2
V̇ = z1 (−a1 z1 + z2 ) + z2 ℓ(z) − g(x)β(x)
ε
g0 β0
V̇ ≤ −a1 z12 + (1 + ℓ1 )|z1 | |z2 | + ℓ2 z22 − z22
ε

– p. 38/5
 g0 β0
V̇ ≤ −a1 z12 + (1 + ℓ1 )|z1 | |z2 | + ℓ2 z22
− z22
" #T " # ε
" #
1
|z1 | a1 − 2 (1 + ℓ1
) |z1 |
V̇ ≤ − 
g0 β0
|z2 | − 12 (1 + ℓ1 ) ε − ℓ2 |z2 |
| {z }
Q
 
g0 β0
det(Q) = a1 − ℓ2 − 14 (1 + ℓ1 )2 > 0 for small ε
ε
h(0) = 0 ⇒ lim x(t) = 0
" t→∞
#
x̄1
h(0) =
6 0 ⇒ lim x(t) =
t→∞ 0

Read Section 14.1.1

– p. 39/5
Regular Form:

η̇ = fa (η, ξ)
ξ̇ = fb (η, ξ) + g(η, ξ)u + δ(t, η, ξ, u)

η ∈ Rn−1 , ξ ∈ R, u ∈ R
fa (0, 0) = 0, fb (0, 0) = 0, g(η, ξ) ≥ g0 > 0
Sliding Manifold:
s = ξ − φ(η) = 0, φ(0) = 0

s(t) ≡ 0 ⇒ η̇ = fa (η, φ(η))

Design φ s.t. the origin of η̇ = fa (η, φ(η)) is asymp. stable

– p. 40/5
 ∂φ
ṡ = fb (η, ξ) − fa (η, ξ) + g(η, ξ)u + δ(t, η, ξ, u)
∂η
(  
∂φ ˆ
− ĝ1 fˆb − ∂η fa , or
u = ψ(η, ξ) + v, where ψ =
0
ṡ = g(η, ξ)v + ∆(t, η, ξ, v)
∂φ
∆ = fb − fa + δ + gψ
∂η
 
 ∆(t, η, ξ, v) 
 g(η, ξ)  ≤ ̺(η, ξ) + κ0 |v|
 

– p. 41/5
  
 ∆(t, η, ξ, v) 
 g(η, ξ)  ≤ ̺(η, ξ) + κ0 |v|
 

̺(η, ξ) ≥ 0, 0 ≤ κ0 < 1 (̺ and κ0 are Known)

sṡ = sgv + s∆ ≤ sgv + |s| |∆|
sṡ ≤ g[sv + |s|(̺ + κ0 |v|)]
v = −β(η, ξ) sgn(s)
̺(η, ξ)
β(η, ξ) ≥ + β0 , β0 > 0
1 − κ0
sṡ ≤ g[−β|s| + ̺|s| + κ0 β|s|] = g[−β(1 − κ0 )|s| + ̺|s| ]
sṡ ≤ g[−̺|s| − (1 − κ0 )β0 |s| + ̺|s| ]

– p. 42/5
 sṡ ≤ −g(η, ξ)(1 − κ0 )β0 |s| ≤ −g0 β0 (1 − κ0 )|s|
 
s
v = −β(x) sat , ε>0
ε
sṡ ≤ −g0 β0 (1 − κ0 )|s|, for |s| ≥ ε
The trajectory reaches the boundary layer {|s| ≤ ε} in finite
time and remains inside thereafter

Study the behavior of η

η̇ = fa (η, φ(η) + s)

What do we know about this system and what do we need?

– p. 43/5
 α1 (kηk) ≤ V (η) ≤ α2 (kηk)

∂V
fa (η, φ(η) + s) ≤ −α3 (kηk), ∀ kηk ≥ γ(|s|)
∂η
|s| ≤ c ⇒ V̇ ≤ −α3 (kηk), for kηk ≥ γ(c)
α(r) = α2 (γ(r))

V (η) ≥ α(c) ⇔ V (η) ≥ α2 (γ(c)) ⇒ α2 (kηk) ≥ α2 (γ(c))

⇒ kηk ≥ γ(c) ⇒ V̇ ≤ −α3 (kηk) ≤ −α3 (γ(c))

The set {V (η) ≤ c0 } with c0 ≥ α(c) is positively invariant

Ω = {V (η) ≤ c0 } × {|s| ≤ c}, with c0 ≥ α(c)

– p. 44/5
 V
c α(.)
0

α(c)

α(ε)
ε c |s|

Ω = {V (η) ≤ c0 } × {|s| ≤ c}, with c0 ≥ α(c)

is positively invariant and all trajectories starting in Ω reach

Ωε = {V (η) ≤ α(ε)} × {|s| ≤ ε} in finite time

– p. 45/5
Theorem 14.1: Suppose all the assumptions hold over Ω.
Then, for all (η(0), ξ(0)) ∈ Ω, the trajectory (η(t), ξ(t)) is
bounded for all t ≥ 0 and reaches the positively invariant
set Ωε in finite time. If the assumptions hold globally and
V (η) is radially unbounded, the foregoing conclusion holds
for any initial state
Theorem 14.2: Suppose all the assumptions hold over Ω
̺(0) = 0
The origin of η̇ = fa (η, φ(η)) is exponentially stale
Then there exits ε∗ > 0 such that for all 0 < ε < ε∗ , the
origin of the closed-loop system is exponentially stable and
Ω is a subset of its region of attraction. If the assumptions
hold globally, the origin will be globally uniformly
asymptotically stable

– p. 46/5
Example

ẋ1 = x2 + θ1 x1 sin x2 , ẋ2 = θ2 x22 + x1 + u

|θ1 | ≤ a, |θ2 | ≤ b
x2 = −kx1 ⇒ ẋ1 = −kx1 + θ1 x1 sin x2
V1 = 12 x21 ⇒ x1 ẋ1 ≤ −kx21 + ax21
s = x2 + kx1 , k>a
ṡ = θ2 x22 + x1 + u + k(x2 + θ1 x1 sin x2 )
u = −x1 − kx2 + v ⇒ ṡ = v + ∆(x)
∆(x) = θ2 x22 + kθ1 x1 sin x2

– p. 47/5
 ∆(x) = θ2 x22 + kθ1 x1 sin x2

|∆(x)| ≤ ak|x1 | + bx22

β(x) = ak|x1 | + bx22 + β0 , β0 > 0

u = −x1 − kx2 − β(x) sgn(s)
Will  
s
u = −x1 − kx2 − β(x) sat
ε
stabilize the origin?

– p. 48/5
Example: Normal Form

η̇ = f0 (η, ξ)
ξ̇i = ξi+1 , 1≤i≤ρ−1
ρ ρ−1
ξ̇ρ = Lf h(x) + Lg Lf h(x) u
y = ξ1

View ξρ as input to the system

η̇ = f0 (η, ξ1 , · · · , ξρ−1 , ξρ )
ξ̇i = ξi+1 , 1≤i≤ρ−2
ξ̇ρ−1 = ξρ

Design ξρ = φ(η, ξ1 , · · · , ξρ−1 ) to stabilize the origin

– p. 49/5
 s = ξρ − φ(η, ξ1 , · · · , ξρ−1 )

Minimum Phase Systems: The origin of η̇ = f0 (η, 0) is

asymptotically stable

s = ξρ + k1 ξ1 + · · · + kρ−1 ξρ−1

η̇ = f0 (η, ξ1 , · · · , ξρ−1 , −k1 ξ1 − · · · − kρ−1 ξρ−1 )

    
ξ̇1 1 ξ1
 .   .  . 
 ..   ..   .. 
 =  
    
   1  
ξ̇ρ−1 −k1 −kρ−1 ξρ−1

– p. 50/5
Multi-Input Systems

η̇ = fa (η, ξ)
ξ̇ = fb (η, ξ) + G(η, ξ)u + δ(t, η, ξ, u)

η ∈ Rn−p , ξ ∈ Rp , u ∈ Rp
fa (0, 0) = 0, fb (0, 0) = 0, det(G) 6= 0,
Design φ s.t. the origin of η̇ = fa (η, φ(η)) is asymp. stable

s = ξ − φ(η)

∂φ
ṡ = fb (η, ξ) − fa (η, ξ) + G(η, ξ)u + δ(t, η, ξ, u)
∂η

– p. 51/5
 ∂φ
ṡ = fb (η, ξ) − fa (η, ξ) + G(η, ξ)u + δ(t, η, ξ, u)
∂η

u = ψ(η, ξ) + v
where (  
∂φ ˆ
− Ĝ−1 fˆb − ∂η fa , or
ψ=
0
ṡ = G(η, ξ)v + ∆(t, η, ξ, v)

– p. 52/5
Case 1:

G = diag[g1 , g2 , · · · , gp ], gi (η, ξ) ≥ g0 > 0

ṡi = gi (η, ξ)vi + ∆i (t, η, ξ, v), 1≤i≤p

  p
 ∆i (t, η, ξ, v)  X
  ≤ ̺(η, ξ) + κij |vj |
 g (η, ξ) 
i j=1

p
X
̺(η, ξ) ≥ 0, κij ≤ κ0 < 1 (̺ and κ0 are Known)
j=1

̺(x)
β(x) ≥ + β0 , β0 > 0
1 − κ0

– p. 53/5
 si ṡi = si gi vi + si ∆i ≤ gi {si vi + |si |[̺ + κ0 max |vi |]}
1≤i≤p

vi = −β sgn(si ), 1≤i≤p

si ṡi ≤ gi [−β + ̺ + κ0 β]|si |

= gi [−(1 − κ0 )β + ̺]|si |
≤ gi [−̺ − (1 − κ0 )β0 + ̺]|si |
≤ −g0 β0 (1 − κ0 )|si |

Now use  
si
vi = −β sat , 1≤i≤p
ε
Read Theorem 14.1 and 14.2 in the textbook

– p. 54/5
Case 2: G(η, ξ) is a positive definite matrix, uniformly in
(η, ξ)
sT G(η, ξ)s ≥ λm sT s, λm > 0
ṡ = G(η, ξ)v + ∆(t, η, ξ, v)

k∆(t, η, ξ, v)k ≤ ̺(η, ξ) + κ0 kvk

̺(η, ξ) ≥ 0, 0 ≤ κ0 < λm (̺ and κ0 are Known)
̺(x)
β(x) ≥ + β0 , β0 > 0
λm − κ0

W = 12 sT s

– p. 55/5
Ẇ = sT ṡ = sT Gv+sT ∆ ≤ sT Gv+̺(η, ξ)ksk+κ0 ksk kvk
s
v = −β(η, ξ)
ksk
sT Gs
Ẇ ≤ −β + ̺ksk + κ0 βksk
ksk
≤ −β(λm − κ0 )ksk + ̺ksk
≤ −̺ksk − (λm − κ0 )β0 ksk + ̺ksk
≤ −(λm − κ0 )β0 ksk
(
  y
s kyk
if kyk ≥ 1
Use v = −β ϕ , ϕ(y) =
ε y if kyk ≤ 1

– p. 56/5