 ANALYSIS OF FEEDBACK SYSTEMS

• Luré Systems

• Absolute Stability

• Sector Conditions

• Kalman Yakubovich Lemma

• Positive Real Functions

• Lyapunov Stability

•Circle Criterion

• Popov Criterion

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• Luré Problem : Conditions under which the feedback system is STABLE…

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• Luré Problem : Conditions under which the feedback system is STABLE…

• Time Domain :
• Luré Problem : Conditions under which the feedback system is STABLE…

• Time Domain :

• Frequency Domain :
• Luré Problem : Conditions under which the feedback system is STABLE…

• Time Domain :

• Frequency Domain :

• Interconnection :
• Luré Problem : Conditions under which the feedback system is STABLE…

• Time Domain :

• Frequency Domain :

• Interconnection :

• ASSUMPTIONS
• Luré Problem : Conditions under which the feedback system is STABLE…

• Time Domain :

• Frequency Domain :

• Interconnection :

• ASSUMPTIONS
• Luré Problem : Conditions under which the feedback system is STABLE…

• Time Domain :

• Frequency Domain :

• Interconnection :

• ASSUMPTIONS
• Luré Problem : Conditions under which the feedback system is STABLE…

• Time Domain :

• Frequency Domain :

• Interconnection :

• ASSUMPTIONS

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• Consider :

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• Consider :

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• Consider :

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• Consider :
• Consider :

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• Consider :

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• Consider :

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• REMARK : Closely related to NYQUIST stability criterion..
• REMARK : Closely related to NYQUIST stability criterion..

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• REMARK : Closely related to NYQUIST stability criterion..

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• REMARK : Closely related to NYQUIST stability criterion..

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• EXAMPLE :

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• EXAMPLE :

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 • EXAMPLE :

• Case 1 :

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 • EXAMPLE :

• Case 1 :

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 • EXAMPLE :

• Case 1 :

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 • EXAMPLE :

• Case 1 :

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 • EXAMPLE :

• Case 1 :

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YES !

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 • EXAMPLE :

• Case 1 :

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YES !

• CONCLUSION : For Case 1, the system is g.a.s.

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• Question : Assume

• Range of K > 0 to preserve stability ?

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• Question : Assume

• Range of K > 0 to preserve stability ?

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• Above results hold for ANY NONLINEARITY

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• Above results hold for ANY NONLINEARITY

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A Circle whose center is on real axis and passes at points ,

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Nyquist Plot of g

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Nyquist Plot of g

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Nyquist Plot of g 79
• a=µ=1

circle of radius 0.5

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• POPOV CRITERION

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• POPOV CRITERION

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• POPOV CRITERION

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 • POPOV CRITERION

• Assumption 1: n(.) is memoryless and time-invariant.

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 • POPOV CRITERION

• Assumption 1: n(.) is memoryless and time-invariant.

• Assumption 2 : g(s) is stable.

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 • POPOV CRITERION

• Assumption 1: n(.) is memoryless and time-invariant.

• Assumption 2 : g(s) is stable.

• Problem : Stability of closed-loop (in Lyapunov sense)

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 • POPOV CRITERION

• Assumption 1: n(.) is memoryless and time-invariant.

• Assumption 2 : g(s) is stable.

• Problem : Stability of closed-loop (in Lyapunov sense)

• Could be analyzed by using Circle Criterion..

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 • POPOV CRITERION

• Assumption 1: n(.) is memoryless and time-invariant.

• Assumption 2 : g(s) is stable.

• Problem : Stability of closed-loop (in Lyapunov sense)

• Could be analyzed by using Circle Criterion..

• Can we get an improvement?

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• Consider the following transfer function for some

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• Consider the following transfer function for some

CIRCLE CRITERION CASE

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• Consider the following transfer function for some

CIRCLE CRITERION CASE

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• Consider the following transfer function for some

CIRCLE CRITERION CASE

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• Consider the following transfer function for some

CIRCLE CRITERION CASE

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• Consider the following transfer function for some

CIRCLE CRITERION CASE

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• Kalman-Yakubovich Lemma

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• V is pdf…
• V is pdf…

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• V is pdf…
• V is pdf…

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is pdf
is pdf

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is pdf

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is pdf

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• Example :
• Example :

largest k for stability ?

largest k for stability ?

largest k for stability ?

largest k for stability ?

• Circle criterion :

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• Popov Criterion :

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• Popov Criterion :

• Question : Is there a such that the following holds ?

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• Popov Criterion :

• Question : Is there a such that the following holds ?

• Choose any

• RESULT : x=0 is GLOBALLY EXPONENTIALLY STABLE for any nonlinearity

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https://www.sciencedirect.com/science/article
/pii/S0005109802002765

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https://escholarship.org/content/qt3sg082q5/qt3sg082q5_noSplash_1a499
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174364a405048753f08b9028040.pdf?t=r4gno5
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• is the transfer function of a LTI system…

• is a memoryless nonlinearity

• Known as Luré systems.

• Suitable for many electrical, physical, mechanical systems..

• Lyapunov stability ?

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• Consider :

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• V is pdf…

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