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Simple Methods for Stability Analysis of Nonlinear Control Systems

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Proceedings of the World Congress on Engineering and Computer Science 2009 Vol II
WCECS 2009, October 20-22, 2009, San Francisco, USA

Simple Methods for Stability Analysis of

Nonlinear Control Systems
R. Matousek, Member, IAENG, I. Svarc, P. Pivoňka, P. Osmera, M. Seda

Abstract — Three methods for stability analysis of nonlinear engineering. Stability of an equilibrium points we can find
control systems are introduced in this contribution: method of out by linearization of the equations (1) in the neighbour-
linearization, Lyapunov direct method and Popov criterion. hood of each equilibrium point and then we have to find out
Since stability analysis of nonlinear control systems is difficult
stability of a surrogate system. If the linearization is allow-
task in engineering practice, these methods are made easier and
tabulated. Method of linearization: The table includes the able then the nonlinear system behaves similarly as the lin-
nonlinear equations and their linear approximation. Lyapunov earized system in the neighbourhood of equilibrium point.
direct method: The table contains Lyapunov functions for usu- If we can express function fi (i = 1,2, ..., n) in a set (1) in
ally used equations second order. Popov criterion: The table Taylor series in the neighbourhood of each singular point
will allow us to directly determine the stability of the nonlinear
circuit with the transfer function G(s) and the nonlinearity that
then we can write for this singular point
⎛ ⎞ ⎛ ⎞
(xi − xi0 ) = ⎜⎜ ∂fi ⎟⎟(x1 − x10 ) + ... + ⎜⎜ ∂fi ⎟⎟(xn − xn0 )
satisfies the slope k. d
(3)
Index Terms — Global asymptotic stability (GAS),
dt ⎝ ∂x1 ⎠ ⎝ ∂xn ⎠
Phase-plane trajectory, Modified frequency response. or matrix way
d
I. METHOD OF LINEARIZATION (x − x 0 ) = J(x 0 )(x − x 0 ) (4)
dt
Consider the nonlinear autonomous n-order system. This where
system might be described by one nonlinear n-order equation ⎡ ∂f 1 ∂f 1 ∂f 1 ⎤
or by a set on n first-order nonlinear differential equations [1] ⎢ ∂x ...
∂x 2 ∂x n ⎥⎥
(
x1′ = f1 x1 , x 2 , ... , x n ) ⎢ 1
J (x 0 ) = ⎢ : : : ⎥ (5)
(
x 2′ = f 2 x1 , x 2 , ... , x n ) ⎢ ∂f n
⎢ ∂x
∂f n
∂x 2
...
∂f n ⎥
∂x n ⎥⎦
(1) ⎣ 1
..................
(
x n′ = f n x1 , x 2 , ... , x n ) is Jacobian matrix that is defined as the matrix of partial
derivatives with numerical values given singular point. The
or matrix equation x ′ = f (x ) (2) equation (3) is a set of linear differential equations that sub-
stitute the original set (1).
The solution of the system (1) is given phase-plane tra-
jectory in the n-dimensional state space. The points of the A necessary and sufficient condition of stability of system
space in which is f1 (x ) = f 2 (x ) = ... f n (x ) = 0 are singular is that the characteristic equation has all the roots in the left
half-plane. If the characteristic equation has one or more
points of the system because in the equilibrium points are roots in the right half-plane, the system is unstable. If the
speeds x1′ = x2′ = ... xn′ = 0 . The matrix representation for the single or multiple roots are located on the imaginary axis, we
linear system (1), where f (x ) is linear function x we can can’t find out stability using linearization. But this stability
write x′ = Ax . On supposing that det A ≠ 0 is solu- that was found out by linearization is applicable only in a
tion x = 0 . The linear time-invariant system has an equilib- small enough region in the neighbourhood of equilibrium
point.
rium point at the origin.
Now we will accomplish the practical linearization of
A nonlinear system can have more an equilibrium points
second order system assumed the equation
because f (x ) = 0 can have more solutions – more singular
y ′′ + g ( y ′) + f ( y ) = 0 (6)
points. The equilibrium points can be stable or unstable. It
depends on the phase-plane trajectory. They are stable if the If this is rearranged as two first-order equations, choosing
trajectory approaches the equilibrium point as t tends to the phase variables as the state variables, that is
infinity and they are unstable if the trajectory recedes. x1 = y ; x 2 = y ′ , then equation (1) can be written as
Stability theory plays a central role in systems theory and x1′ = x 2
(7)
Manuscript received July 25, 2009. The results presented have been x 2′ = − g (x 2 ) − f (x1 )
achieved using a subsidy of the Ministry of Education, Youth and Sports of
the Czech Republic, research plan MSM 0021630529: “Intelligent Systems
Singular points of this system we will obtain by solving
in Automation”. x1′ = x 2′ = 0 and they are the points on the real axis
The authors are with Brno University of Technology, Czech Republic.
They are now with the Institute of Automation and Computer Science, [x10 ; 0] . When we introduce for conciseness the symbol
Faculty of Mechanical Engineering, Technicka 2, 61669 Brno (e-mail:
[email protected], [email protected]).

ISBN:978-988-18210-2-7 WCECS 2009

Proceedings of the World Congress on Engineering and Computer Science 2009 Vol II
WCECS 2009, October 20-22, 2009, San Francisco, USA

Table I: Linearized equations of nonlinear systems

Equation of nonlinear Singular

No ψ Linearized equation
system points

1 y ′′ + by r y ′ + y = 0 − bx1r x 2 − x1 [0 ; 0 ] y ′′ + y = 0

b r c c
2 ay ′′ + by r y ′ + cy = 0 − x1 x 2 − x1 [0 ; 0 ] y ′′ + y=0
a a a

b c
[0 ; 0 ] y ′′ + y′ + y = 0
b c d a a
3 ay ′′ + by ′ + cy + dy 2 = 0 − x 2 − x1 − x12
a a a ⎡ c ⎤ b c c
⎢− d ;0⎥ y ′′ + y ′ − y + = 0
⎣ ⎦ a a a

b c d b c
4 ay ′′ + by ′ + cy + dy t = 0 − x 2 − x1 − x1t [0 ; 0 ] y ′′ + y′ + y = 0
a a a a a

b c d b d
5 ay ′′ + by ′ + cy r y ′ + dy = 0 − x 2 − x1r x 2 − x1 [0 ; 0 ] y ′′ + y′ + y = 0
a a a a a

b d
[0 ; 0 ] y ′′ + y′ + y = 0
b c d e a a
6 ay ′′ + by ′ + cy ′ r + dy + ey 2 = 0 − x 2 − x 2r − x1 − x12
a a a a ⎡ d ⎤ b d
⎢− e ;0⎥ y ′′ + y′ − y = 0
⎣ ⎦ a a

b c d e
− x 2 − x 2r − x1 − x1t b d
7 ay ′′ + by ′ + cy ′ r + dy + ey t = 0 a a a a [0 ; 0 ] y ′′ + y′ + y = 0
a a

8 ( )
ay ′′ + b m + ny r y ′ + cy = 0 −
b
a
( ) c
m + nx1r x 2 − x1
a
[0 ; 0 ] y ′′ +
b
a
c
my ′ + y = 0
a

9 ( )
ay ′′ + b my p + ny r y ′ q + cy = 0 −
b
a
( ) c
mx1p + nx1r x 2q − x1
a
[0 ; 0 ] y ′′ +
c
a
y=0

ψ = − g (x 2 ) − f (x1 ) (8) d
(x1 − x10 ) = x 2
then the Jacobian matrix of this system is (where we have to dt
∂ψ
give for x1 ; x 2 the coordinate of singular point d
x2 = (x1 − x10 ) + ∂ψ x 2
x1 = x10 ; x 2 = 0 ) dt ∂x1 ∂x 2
⎡ 0 1 ⎤ (10)
J (x 0 ) = ⎢ ∂ψ ∂ψ ⎥ (9) x1′ = x 2
⎢ ∂x ∂x 2 ⎥⎦ ∂ψ ∂ψ ∂ψ
⎣ 1 ⇒
x ′2 = x1 − x10 + x2
and then following equations represents the linearization of ∂x1 ∂x1 ∂x 2
the nonlinear equations about the equilibrium point These equations correspond to the linearized second order

ISBN:978-988-18210-2-7 WCECS 2009

Proceedings of the World Congress on Engineering and Computer Science 2009 Vol II
WCECS 2009, October 20-22, 2009, San Francisco, USA

equation (11) Consider again the nonlinear autonomous n-order system.

∂ψ ∂ψ ∂ψ This system might be described by one nonlinear n-order
y ′′ − y′ − y+ =0 (11) equation or by a set on n first-order nonlinear differential
∂x 2 ∂x1 ∂x1
equations (1) or matrix equation (2).
We can substitute the origin nonlinear equation (6) this
The vector x is the state vector, and its elements are state
equation (11) and to find out stability of the nonlinear system
varibles. The origin x = 0 (x1 = ... = xn = 0) of the state space
like stability of the linear system, but only in a small enough
will be assumed to be an equilibrium solution.
region in the neighbourhood of equilibrium point.
Notice that the absolute member in the equation (11) is The Lyapunov function V (x1 , x 2 , ... , x n ) is a scalar func-
constant that doesn’t influence stability. As long as a singular tion of the state variables and it is positive definite. Now let
point lies at the origin x10 = x 20 = 0 , the constant is zero and dV ∂V dx1 ∂V dx 2 ∂V dx n
the equation (11) is V′= = + + ... + (13)
dt ∂x1 dt ∂x 2 dt ∂x n dt
∂ψ ∂ψ
y ′′ − y′ − y=0 (12) be calculated by substituting (1). If V´ were to be found to be
∂x 2 ∂x1
always negative, then apparently V decreases continuously,
The results of this linearization are in the table I. and the state must end up in the origin of the state space,
For example to find out stability of the system implying asymptotic stability.
y ′′ + 10 y ′ + 5 y + 2,5 y 3 = 0 To develop these concepts, the following definitions are
used for the sign of V and V´:
Substitute into this x1 = y ; x 2 = y ′ the equation will be
- A system is globally asymptotically stable if V´ is nega-
x1′ = x 2 tive definite.
x ′2 = −10 x 2 − 5 x1 − 2,5 x13 - It is globally stable if V´ is negative semidefinite.
- It is unstable if V´ is positive definite or semidefinite.
The system has a unique equilibrium point at the origin
[0 ; 0] . In this point is (If V´ is indefinite then it is not possible to decide about
stability.)
=
( 3
∂ψ ∂ − 10 x 2 − 5 x1 − 2,5 x1 )
= − 5 − 7,5 x12 = −5 Lyapunov’s method is a very powerful tool for studying
∂x1 ∂x1 [0;0] the stability of equilibrium points. However, there are two

∂ψ
=
(
∂ − 10 x 2 − 5 x1 − 2,5 x13 )
= −10
drawbacks of the method that we should be aware of. First,
there is no systematic method for finding a Lyapunov func-
∂x 2 ∂x 2 tion for a given system. Second, the conditions of the method
and the linearized equation (12) is are only sufficient; they are not necessary. Failure of a
Lyapunov function candidate to satisfy the conditions for
y ′′ + 10 y ′ + 5 y = 0 stability or asymptotic stability does not mean that the origin
The characteristic equation has roots s1 = –9,47; is not stable or asymptotically stable.
s2 = –0,53. The roots are real negative, the equilibrium point We would like to eliminate the first drawback of
is stable. The system is stable in the neighbourhood of this Lyapunov’s method. The table of Lyapunov’s functions for
equilibrium point. We could find out that the equilibrium second-order systems is the table II and for third-order sys-
point is knot. tems is the table III.
In table I are the commonly used the equation of the sec- For example: Consider the second-order system
ond order, their singular points and the linearized equation
for the neighbourhood of equilibrium point. The table helps ( )
y ′′ + 1 + y 2 y ′ + y = 0
us to find out immediately if the equilibrium point is stable or Taking x1 and x2 as the state variables, we obtain the state
unstable. equation
The example above had the equation x1′ = x 2
y ′′ + 10 y ′ + 5 y + 2,5 y 3 = 0
( )
x 2′ = − 1 + x12 x 2 − x1
correspond to No. 4, where is a = 1; b = 10 ; c = 5; d = 2,5 ; t
The system has evidently an equilibrium point at the origin.
= 3. This equation has one singular point [ 0 ; 0 ] and in the
Using the table 2 we will choose Lyapunov’s function
neighbourhood of equilibrium point is valid the equation. number
The table can help us to solve stability of the nonlinear 4 ( a = b = c = m = n = q= t = 1; r = 0; s = 2 )
second order systems.
V (x1 , x 2 ) = x12 + x 22
II. LYAPUNOV DIRECT METHOD The derivative of V along the trajectories of the system is
Lyapunov’s method for stability analysis is in principle given by
very general and powerful. The major drawback, which
seriously limits its in practise, is the difficulty often associ-
ated with constructions of the Lyapunov function or
V-function required by the method.

ISBN:978-988-18210-2-7 WCECS 2009

Proceedings of the World Congress on Engineering and Computer Science 2009 Vol II
WCECS 2009, October 20-22, 2009, San Francisco, USA

Table II: Lyapunov´s functions for second-order systems

No Equation of system Restriction Lyapunov function V

1 ay′′ + by′ + cy = 0 - c 2
V= x1 + x 22
r q a
2 ay′′ + by y′ + cy = 0 r even q odd

3 ay ′′ + by r y ′ q + cy t = 0 r even q,t odd

4 ( )
ay ′′ + b my r + ny s y ′ q + cy t = 0 r,s even q,t odd V =2
c 1 t +1
a t +1
x1 + x 22

5 ( )( )
ay ′′ + b my r + ny s ey ′ q + fy ′ k + cy t = 0 r,s even k,q,t odd

Table III: Lyapunov´s functions for third-order systems

No Equation of system Restriction Lyapunov function V

a,b>0 2b r +1
1 y′′′ + ay′′m + by′r = 0 V= x 2 + x32
m,r odd r +1

a,b,e>0 2e h+1
2 y ′′′ + ay ′′m y′n + by ′′r y t + ey′h = 0 m,r odd V = x 2 + x32
n,t,h even h +1

a,b,e>0 2e h+1
3 y ′′′ + ay ′′m y′n y p + by ′′r y ′ s y t + ey′h = 0 h,m,r odd V = x 2 + x32
n,p,s,t even h +1

y ′′′ + ay′′ m y′ n + by ′′ p y r + cy ′′ s y′t y u + a,b,c,d>0 2d z +1

4 m,p,s,z odd V= x 2 + x32
−1
+ dy ′′ y ′y = 0 z
n,r,t,u even z +1

y ′′′ + ay ′′ m y ′ n + by ′′ p y r + cy ′′ s y′t y u + a,b,c,e>0 2e h +1

5 m,p,s,h odd V = x2 + x32
h
+ ey′ = 0 n,r,t,u even h +1
2d z +1
V = x1 +
y ′′′ + ay ′′ m y ′ n + by ′′ p y r + cy ′′ s y′t y u + a,b,c,d,e>0 z +1
6 h,m,p,s,z odd
+ dy ′′ −1 y ′y z + ey ′ h = 0 n,r,t,u even +
2e h +1
x2 + x32
h +1
y ′′′ + ay ′′ m y ′ n + by ′′ p y r + cy ′′ s y ′t y u + a,b,c>0
7 m,p,s odd n,r,t,u V = (x1 − x2 )2 + x32
−1
+ y ′′ y ′y + y ′ − y = 0 even
a,b,c,d,e>0
f<0
y ′′′ + ay ′′ m y ′ n + by ′′ p y r + cy ′′ s y ′t y u + ⎛ f ⎞
2
f2
8 e= V = ⎜⎜ d x1 + x2 ⎟⎟ + x32
+ dy ′′ −1 y ′y + ey ′ + fy = 0 d
⎝ d ⎠
m,p,s odd
n,r,t,u even

∂V ∂V
V ′(x1 , x 2 ) = x1′ + x 2′ = III. POPOV CRITERION
∂x1 ∂x 2
[( ) ] (
= 2 x1 x 2 + 2 x 2 − 1 + x12 x 2 − x1 = −2 1 + x12 x 22 ) The Popov criterion is considered as one of the most ap-
propriate criteria for nonlinear systems and it can be com-
The function V´ is negative semidefinite (because for x2 pared with the Nyquist criterion for linear systems [4].
= 0 the function V´ is for arbitrary x1 equals zero) and the However there are reservations that relate to the very es-
system is globally stable. sence, correctness and reliability of the criterion. It is nec-
essary to emphasise that this criterion is reliable, but the
conditions of its appl. should be clearly specified in advance.

ISBN:978-988-18210-2-7 WCECS 2009

Proceedings of the World Congress on Engineering and Computer Science 2009 Vol II
WCECS 2009, October 20-22, 2009, San Francisco, USA

Fig. 1 shows the system configuration with one nonlinear the inequality (14), and the resultant relation is presented
element and a linear part with the transfer function G(s) that after modifications. If the inequality is satisfied for k, q, a, b,
can include all linear elements. It shows the nonlinearity that ω, the circuit in question is globally asymptotically stable
is single-valued, time–invariant and constrained to a hatch (GAS)
sector bounded by slopes k that is assumed to satisfy: for the
case when all poles of G(s) are inside the left-half plane Table IV: Modified frequency response plots
f (e ) N
0≤ ≤k <∞, G(s) G*(jω)
e o
for the case when G(s) has poles on the imaginary axis (the Im
so-called critical case) 1 a a Re
f (e )
0< ≤k <∞
e . ω =∞ Im
2 as
ω=0 Re
u
y equation u=ke
G(s ) slope: k
1 Im Re
3
u k as
u e w=0 static -1/a
e characteri
Im ω=0 Re
1
4
s+a 1/a
ω = ∞ -1
Fig.1: Non-linear control circuit and characteristic of
nonlinear element a
s Im ω =∞
For the case that G(s) has poles only inside the left-half 5
s-plane, the static characteristic can be zero both in the be- s+a
ω=0 Re
ginning and out of the beginning. For the case when G(s) has 1
poles on the imaginary axis, it must not be zero out of the 1 Im
beginning. 6 2 ω=0 Re
as
A nonlinear circuit with a transfer function of the linear ω =∞
part G(s) and with the nonlinear element (with the above Im
described nonlinearity) is globally asymptotically stable 1 ω =∞ ω=0 Re
when an arbitrary real number q (> 0 or = 0 or < 0) exists 7
where for every ω ≥ 0 the following inequality is completed
(s + a ) 2
1/a2

1
Re[(1 + jωq )G ( jω )] + >0 (14)
k Im Re
The Popov criterion can be – for more convenience – ap- s
8 ω=0
plied graphically in the G (jω)-plane. Let us apply a modified (s + a )2
frequency response function G*(jω), defined ω =∞
-1
Re G ∗ ( jω) = Re G ( jω )
for ω ≥ 0 (15) 1
− 1
2a 3 Im Re
Im G ∗ ( jω) = ω . Im G ( jω) 9
s (s + a ) 2
ω =∞
and we obtain the graphical interpretation of the Popov cri- ω=0
terion for global asymptotic stability (GAS): The sufficient
condition for GAS of nonlinear circuit is that the plot of − 1 Im
1 8a 3 ω = ∞ Re
G*(jω) should lie entirely to the right of the Popov line which 10
crosses the real axis at -1/k at a slope 1/q (q is an arbitrary (s + a ) 3
ω=0 1
a3
real number) .
In this contribution table III shows the commonly used Im
s+b -1/a2 Re
nonlinear circuits (with stability being solved). The table has
11
been constructed for the circuits with different transfer s (s + a ) 2 ω =∞
function G(s).There is an algebraic solution to the inequality ω=0 -1/a
(14) on condition that:
1
0 ≤ k < ∞ (only for poles G(s) inside the left-half of s-plane); − Im
1 2 a ( a + b) 2 ω = ∞ Re
0 < k < ∞ (also for poles G(s) on the imaginary axis); a, b > 12
0; ω... for every value from 0 to ∞ ; q...arbitrary.
(s + b )(s + a ) 2 ω=0 1
a 2b

In the table IV, the frequency response function of the

linear part of the circuit is presented in the form inserted to

ISBN:978-988-18210-2-7 WCECS 2009

Proceedings of the World Congress on Engineering and Computer Science 2009 Vol II
WCECS 2009, October 20-22, 2009, San Francisco, USA

Table V: Results of stability analysis by Popov´s criterion

G(jω) in inequality (14) Conditions of
No G(s) 1 Solution of (14)
Re[(1 + jωq )G ( jω )] + > 0 stability
k
1 a a ka+1 > 0 GAS for every k
3
2 as ajω 1 - kω q > 0 GAS for every k
1 1
3 −j qk + a > 0 GAS for every k
as aω

4
1 a
−j
ω (
k a + ω 2q + a 2 + ) GAS for every k
2 2 2 2
s+a a +ω a +ω +ω2 > 0

s ω2 aω kω 2 (1 − aq ) + a 2 +
5 + j 2 GAS for every k
s+a 2
a +ω 2
a +ω2 +ω2 > 0
1 1 not stable for
6 2
− 2 k < aω 2
as aω arbitrary k

1 a2 − ω 2 2 aω kω 2 (2aq − 1) + ka 2 +
7 −j GAS for every k
(s + a )2 (a 2
+ω2 )
2
(a 2
+ω2 )2
(
+ a2 + ω2 ) 2
>0

s 2aω 2
+ j
a 2ω − ω 3 [
kω 2 2a + q ω 2 − a 2 +( )]
8
(s + a )2 (a 2
+ω 2 2
) (a 2
+ω )
2 2 (
+ a +ω 2
) >0
2 2
GAS for every k

1 − 2a ω2 − a2 GAS for
+ j
9
s (s + a )2 (a 2
+ω 2 2
) ω a +ω( 2 2 2
) …
k < 2a3

1 1 GAS for
10 = ...... …
(s + a ) 3
( jω + a )3 k < 8a3

s+b jω + b
11 = ... 4a 6 − 12a 5 b + 6a 4 b 2
s (s + a ) 2
jω ( jω + a ) 2 k>−
4a 4 − 10a 3b + 8a 2 b 2 − 2ab 3
1 1 2a 5 + 8a 4 b + 12a 3b 2 + 8a 2 b 3 + 2ab 4
12 = ... k<
(s + b )(s + a ) 2
( jω + b )( jω + a ) 2
(a + b )2

for every value k. If it is not the case, then it is possible to The table contains Lyapunov functions for usually used
determine for which k circuit is GAS or that it is not for any k control circuits second and third-order. The last method is
(this calculation is illustrated in the table). Therefore the table Popov criterion. The table will allow us to directly determine
will allow us to directly determine the stability of the the stability of the nonlinear circuit with the transfer function
nonlinear circuit with the transfer function G(s) and the G(s) and the nonlinearity that satisfies the slope k.
nonlinearity that satisfies the slope k. Table V illustrates the
modified frequency response plots enabling us graphic solu- REFERENCES
tions to stability. [1] R. Iserman, “Digital Control Systems”, Springer, Berlin, 1989
[2] W. S. Levine, “The Control Handbook”, CRC Press, Inc., Boca Raton,
Florida 1996
IV. CONCLUSION
[3] I. Svarc, R. Matousek, “How and when to use Popov and circle criteria
Stability analysis of nonlinear control systems is difficult for stability”, In Proceedings of the ICCC ’2008, Sinaia (Romania),
2008, pp. 663-666. ISBN 978-973-746-897-0
task in engineering practice. This paper can help to solve the
[4] I. Svarc, “Stability analysis of nonlinear control systems using lin-
problem. The describe methods creates tables and graphs for earization”, In Proceedings of 5th ICCC’2004, Zakopane, pages 25 - 30
three methods of stability analysis. [5] I. Svarc, “A new approach to graphs to stability of nonlinear control
systems”, Journal Elektronika, Warsaw, No 8-9/2004, pages 18-22
First method is method of linearization. The table [6] N. Sidorov, B. Loginov, A. Sinitsyn, M. Falaleev, “Lyapunov-Schmidt
includes the nonlinear equations and directs their linear ap- Method in Nonlinear analysis and Applications”, Kluwer Academic
proximation. Second method is Lyapunov direct method. Publisher, 2002

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