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Lyapunov stability 1

  • 1. ” ! # " $ % & (& $ ' & ' )' * + ,,# # '% $ ) .$ & * / * - 0 - # )1 $ , - & ) - 2 *# 3 $ 3 4 $ )' - 3 * * ! $ $ # 3 " # + & ( 5 5 ( '' * ) ! " #$ % -4 ' 2* &67 ( # , 0 $ & ( - $ 8) 82 # -$ ' " $9 &' # ( % ( ' )*+ ' , * '-. " $ & ( , -0 4 82# 4 - &* 1 / 0 '3 , # &* * ' 3 : '0 9 + & ; < * +$ - # 0' , ; * - ++ & , 4 $ < 82# &1 */ $3 = - 2 '% , & ) * >5 567? @ # 4 ( ' 1 ! ! "! # 0 + + . $ / $ " " $ &) . * *2 / $ $ '& $8 0 % $ & ' (# ( ) * (# + & # 1!0 - >5 567? -4 ' @ 43 * / -( $ % (- # * ) # ; 2A*
  • 2. # '3$ 4 0 + $ 4 2 * =0 2 B >5 56?@ , - ? & ' ( # $ &2 =C 1! 1 $ ' & ( ( + 8 2 * )$ ! 4& . ** ( # - , 8# -# 8 , , *# ,! 4 .* - ( # . # &2 =C +/ ' * - ) * &2 2 =C / # 8 &* # ' -/ $' , & 0 ' # &- + 0 +$ $ ' ' $38 - 4 - # 8 *+/ '$ )* +)3 * & , ' , , , // '% - ' '1 - ' , 4 $ ) ''* ) '0' + ' * -04 -& , '/ / 3! 4.* // 9 1, 0 (0246: ;>A, C D . * 3 596 <? 3B ) 0 7 8 7@ 1 8 =B C 9A D HJ 9<HM # N 6>A, 4D=O49. 5N KE F G 3 M E F G 8E F G I?: KLA F 8 4 DB D 5=? @:M ?< I @9A D N QA A D 8@ B 0P DF 7R F 9 8 ST? BP 3 8 @ 7 B<? 6 M ; V <X5D; L 3 =R 4D30? D1 N0X5DC 9^ : ^ 8 U WE <YZ <0 83 ; @: < 3 ZI ] D <YZ 8HE B C 9 0P 7E 3D [ 0 F EP 3 B O M K4 5R _Z J 5: 8: R 5DBP -. 1234678, 9 O@6 I R Q U `5C 9A 5PP? )*+, /0 53 ) *6 D8 7 M 9 3 @ :*; 1. 3 . )< /0 8KTM D ; V <X5DBM KE:5 P95a: U WE <YZ AO@ DDX D J 0P 9D 1 I^ b? NM 5R 0` 3 5PJM ] DA I R>0? M c1 R F 9E T? BP B<? 8 @ M Z DG 5R TK` ? :1 < c OJ:@D H `5 DI R :>03 KO3 1 9D0 09 T0 7 E P O x f x &x n # f : D * n ( ' * ) , D n 0 n DE F ' 0 (-=>>:*; B3D?@1E, F@, . C ?@A *. ( ! G * 3, DED F ' 0') '4 #, , '' xe n ; $3 DE F f xe t 0, t 0
  • 3. $ , 83 8 (* ) * &* # , ' 1 &* ' 0' * # 0 , , 8 8 x1 x1 2 x13 x2 x2 x1 x2 - xe1 # $ xe 2 ;8 8 , , , x f xe 0 ,0 0 xe1 3 2 xe1 # xe 2 0 xe1 xe 2 xe 2 xe1 # ' & - # 0 2 xe1 xe21 1 * 3# # ,0 xe1 G , 6 # H6 , 8I , 8 3DG,GF , d # d 8 8 ‡ , ' ' 8 8xe , $3 +1 " G + - $ $ 0 #, 0 (&- * )+$ x0 xe xt xe , t 0 J , ' ' 8 8xe / . , , ,$ ' 9 8xe , * $, xe 0 9 D 3* - '- xe F # ' & ' * ' 1% - xe D * 3 ' 1 - '- xe F # 1* & !" # ' 1 ! '$ 00 'x t xe 3t * -& B 1! , ' 0 ,) &* ' / 1! ' 3 20 " ( ' ) * ) 3 + $ 38 * ,&# ' 8 1 $, 8
  • 4. $ , ' ' 8 8xe , 20 " 65 , 8xe 8 1! @5 , 8xe ; 8 3+ G ( + . G '3 0 (&- * )+$ x0 xe im x t xe t 4 + ; ** & ' -/ $' ; ' # '3, * 4 + 0' 0 ) 9- ' ' 1 1 8 # , 8 , ) & ') * (* ' 1 ( # % , ' ' 8 8xe , 20 45' 6 2 $ H ! '& k # * (* ) x0 xe # t xt xe k x0 xe e , t 0 $ 04 ', 8 * 9 8 & 4 9( 4 , ; 4 + #' -& 0', 0 4 9( 4 & 0 # ; 3 0& ' * * * 4 + # '% & ' & $ * # '; $ & -#' ' * &* - '- , 8# ' J &$ ' 0' 8 * 0 0 * = * 3 * $ , , 8 % (- $ ' 8 * ) ** & & 93 & # '% , 8 ; 8 , 0' , * & ' * -- 1 , '' 8 * 3+ & -& ,* # & 2 =C 1! , *& 3 * 1 '' ## -# ' 1 *, ' &@ * * 3& 1 ,# ' , 8 0 8 - & ' * # 0 1 ,# ' , 8 *0 0' 8# - & # 8 3 $ * ,&- +$ 1 # ' , $ 8 ' 4 # -
  • 5. &8 * -#' , K - & '* # 0 1 ,0' 1/ $3 ' &# - & # * * , ' , 1 ; 1 $ 8 '& 8 8 # * , 0 * J friction weight "' ' # 7&8 +1 " G ( 0 6 9 +1 " G’ , '- & * 3% , 1 ' 8 &8 *3 - * 1 0, *# , ' ! &* ;1 3 8 @5 1 !$ )' '&* @5 4 + $ )' , ;1 I5 * ) 3% * ,0' )2 < 1 !&0 $ ! 4 + . &* &+ ! 4 .* - & # , *# ! 4 & .* $)* 3< ! 4 & '' 3# 0'; -& . ** * ! 4& 2 4 . ** ' '0 ( - V :D $ n ; .4 ' 3 , ' ' ! * * 65 V ; .4 ! * ,. G I V 0 0 # V x 0, x D,x 0 e! V ; .4 ! * 3, . G I V 0 0 #
  • 6. V x 0, x D,x 0 f V ; .4 , . ! ! * G I V ; .4 # ' ! * ! * 3, . L5 V ; .4 G I V ; .4 ! * * ) ' # D n , ' ' $' ; J , '' $' ; $ ' # ' $ '! 4 . * #' !! ! 4 . * * ' !!! 3 ) # ! 4 #' ! ! , ' ; 10 .* ,8 3 * 0 & - & .4 &x ' * * ) ! * # ' ! ! ! , ' ; 1 0 *x 0 3 -x $ 2 ,, ! 4 ' .* 0 x12 65 f1 x 2 x2 1 x14 * 3, f1 0 0 # f1 x 0 + & 'x$ 8 {0} f1 ; .4 # ' ! * !! @5 f 2 x x12 x 24 3, f 2 0 0 # f 2 x 0 + & 'x * $ 8 {0} ' 3f2 x 0 x1 0 $ 3x2 0 f 2 ; .4 ! * ) ' !!! * # I5 f 3 x x1 x2 2 x1 x 2 2 ; .4 # ' ! ! ! * $8 : 6 ‡ ) - V :D $ # f :D n ; .4 & 8 < ' ' 3 ! **$ 0 * ## ( ( D n (* ) 88 + x 0 , 9' V , 0 f G G V K f +$ n n V V V x xi fi x i 1 xi i 1 xi f1 x V V V f2 x V , , ..., f x x1 x2 xn x fn x ' 8< V # ) x f x V ' # ' #'
  • 7. *-x $ ;8 8 0, D6F # D n ; & * 8x 0 , ' 'V : D ;1 '2 +1 " G g 65 V x ; .4 & 8 < ' ' 3 ' 3V x ; .4 ' 3 # ! ** $ 0 * ! * * 8 <* 3 - D &' * @5 V x ; .4 # ' ! ! J & D ' 3 ! * - * V 0 0# V x 0, x D !0" f V x ; .4 ) ' ! ! ! J & D ' 3 ! ! * * # - * V x # 0, x D * 3 dV ) V& V x ' $f x dt ( x% 3 8<& V x # D6F +/ ! 4 1 ! $ 0, & 2 & ' .* , 9 =B 0 +- . , - x 0 ;8 8 $ , DE # D F n ; &* 8x 0 V :D ( ; .4 * ) ! * 1 ! ,0 '8 + x , 0 ( +1 ! Vx )1 ' 2 ,. $ : D . -( V x 0, x D !0" / " 0 1$ - 0 # 3 r (0, ] (&- * )+$ n Br {x : x #r} D - $ * min V x x r 3, * V ; .4 ! * 1 !, & 7 ,0 '* 0 ' 3 0 + 0, * #- $ ,+ {x Br : V x # + } ,0 ', + ' 1- ' - Br ' 3 8 ,- , + , ; 8 - &% 8 , Br # V xt #0 V x t #V x 0 # + , t 0
  • 8. * 3# -% & * - , + &t 0 , 1 , + + & ' * * - ' $ 8 t 0 3, * V x ; .4 ' 3 # V 0 0 ,0 ' 0 ( x ! * * * ) # V x + D Br B ,+ $ 2 3 ' 4 ! 57/ " 0 1 , . 65 +8 B ,+ Br # x0 B x0 ,+ xt ,+ xt Br *3 x0 xt r# , t 0 (# * ) '8+ x 0 , 1! ' , 1 0 , 4 + '3+ & ' 0, $ 8 T 0 ( &- * ) +$ xt & ' T 8 t ' x 0 , x D !0" ; V , - $ 8& 4 : + ,0 '+ & ' 0 $ 8 3 b 0 (&- , b B *+$ ) , ; ) , 1 ' xt , V 0 3t * * 3, V 0 ,0 ' x t ; .4 V ! * & , V xt ' 30 V xt c 0 3t * , 1 'c 0 , 1# , # h 'c 0 , '3* V x t ,0 ' d 0 &- Bd , c , V x t +$ c 0 ,0 '# xt ' 1 Bd + & ' 0 - $ 8 t $ - max V x d # x #r
  • 9. , M V x 0, x D !0" ,0 ' - 0 # t V xt vx0 /V 0 x . d. # V x 0 -t 3, , & * 3 ' , '1 - & 8 * & , # * 0 M &' * c 0 , 8 'c 0 ) 0 +/ & 2 & =C 1! 3 $! 4 . * 1 ! 0 9 1 , 1! # * ' 0 V x ; .4 # ' D0'' ! * - 4 #' ) ' F # , 8 * # 8 , 4 + c3 c2 V x c1 c1 c2 c3 % "9 ' #/ :1 6 # $ & &2 & =C 1 ! , 0, 3 : #( V x c +$ 'c 0 -&* ' (;0 + 1 " ! G 1* &L 4 + , , 3 0 V 0 # - $ '# * $ 9 , 3: 1! V x c , 1 - ( , c ! x n : V x c " ( 'c ' * ) ' ,0' # , ( - &c ' * 3: 1! , 9 , ; 1 - & 8# # * , 3 & $, 8 3t * * 8 * - & 10 ' # 0 # *, V , , 1 ' ,8 8 $3 1 % & ' ' ' # ' 3'8 + 9 , * 3, # &* - * B , 1- ' B B &2 & =C 1! $ 0 0' , , : J 4 8 < ' , 3& 2 & '0' # + =C 0 ' ,$! 4 1 !V x 0 .* '0 - , -< : 4 1 * .* 3 ! 4 1! * $ &$ #' $ 8) ! 4 , . * 1 ! * 3 ) 34 &1 * & - ', # (#
  • 10. . , &2 & ; =C * 30 #( ( '3 $ ! 4 1! 9 .* 0 , 1 , 0 # ' $! 4 1 ! ' 0 ' .* 00 0 $ ' 0' #''- * 3 $! 4 1 !$ ' 34< 3 .* - $ - *- )2 , x1 x2 x1 x12 2 x2 a 2 2 , a x2 x1 x2 x 1 x 2 a 1 2 1 2 3! 4 .* 1! V x x1 x2 D# 1* &NF & 7 2 2 2 & / # #/ :1 6 #V x 1 2 x 2 5$ , ' V x x1 x1 x2 x2 x1 x 2 x1 x12 2 x2 a x 2 x1 x 2 x12 2 x2 a x12 2 x2 a x12 2 x2 (V ) * x ; .4 # ' J & - ! * * D { x1 , x 2 : x12 2 x2 a, a }
  • 11. x2 a D a x1 & 2 D { x : x12 x 2 2 a, a } * 3, + 8 4 + * -( D ‡ & 2 &?-0 =C 4 1 , J && *' 1 , * &+ ; 9 # * , 3 D -& 2 & =C ' 0 ; 1 n &$ #' &' 0' &* * 3V x ; .4 / . ! * , * (,0 + < * ) ' -J $ 0 / 7 65 i j j d ! ! / " # df ! k & ) d m$ lh i d e! e @5 && d ! " # $ % ! # &' ( lno -& h p dqq q! f m! & ! !m r! d$ & " ' ( s n ' (d m$ ( lh i dq ! q L5 "! p d" # $ %e !$ i !lnm dqfq! ) + +. 3P; `>: :: 3 v V1 ` D;Y4`@@5:46M - / D8 t u A< A Q D5 F w D@D`M5059O *, ) ` 0 O 7 MM F B 9 >v 8 7 4 I`M5vE 5: D` DA 43 O< I8 0Ot R < G @@5: DJbN@ PO0 w wP 5H:M ?3 ^ v ; P; Z D 5 s h ( x !
  • 12. 1 3 3P` `> u A< ) . eq 0 2 . D8 tB : :: , 4 2 . * ;0 O7 9 13 y 5 6 8 : 5 P 88:;4 4 8 ;A b 9 Z7 / 88 3 E E A `.+ { f : ?E: 4 3 : ; b y X 3 @` 5 LO O 9^ ) X 3 ^ @ B4 / C E z1 yf N u3 DA < @` 5 * R KD 4 3 3 3 : ; bD 4 8M 3 JR K : 0J Q^M : e *< > 4 y q N 6 e y C RM ; ! 9K: = 2< 4 ? 58 f