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Lecture # 18
Boundedness
&
Ultimate Boundedness
p. 1/1
Definition: The solutions of x = f (t, x) are
uniformly bounded if c > 0 and for every
0 < a < c, = (a) > 0 such that
kx(t0 )k a kx(t)k , t t0 0
kx(t0 )k a kx(t)k b, t t0 + T
p. 3/1
Suppose
V
V (t, x) = f (t, x) W3 (x), x , t 0
x
W3 (x) is continuous and positive definite
V (t, x) k, x , t t0 0
V (x(t)) V (x(t0 )) k(t t0 ) c k(t t0 )
x(t) enters the set within the interval [t0 , t0 + (c )/k]
p. 4/1
Suppose
c
Br
p. 5/1
Let 1 and 2 be class K functions such that
c = 1 (r) c Br
kxk V (x) 2 ()
= 2 () B
What is the ultimate bound?
p. 6/1
Theorem (special case of Thm 4.18): Suppose
V
f (t, x) W3 (x), kxk > 0
x
t 0 and kxk r , where 1 , 2 K, W3 (x) is
continuous & positive definite, and < 12 (1 (r)). Then,
for every initial state x(t0 ) {kxk 1
2 (1 (r))}, there is
T 0 (dependent on x(t0 ) and ) such that
kx(t)k 1
1 (2 ()), t t0 + T
p. 8/1
Example
p. 9/1
min (P )kxk2 V (x) max (P )kxk2 + 12 kxk4