Solution Manual for

Nonlinear Control

Hassan K. Khalil
Department of Electrical and Computer Engineering
Michigan State University

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 Contents

1 Introduction 1

2 Two-Dimensional Systems 9

3 Stability of Equilibrium Points 51

4 Time-Varying and Perturbed Systems 81

5 Passivity 99

6 Input-Output Stability 107

7 Stability of Feedback Systems 123

8 Special Nonlinear Forms 137

9 State Feedback Stabilization 155

10 Robust State feedback Stabilization 181

11 Nonlinear Observers 223

12 Output Feedback Stabilization 243

13 Tracking and Regulation 289

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 ii

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 Chapter 1

Introduction

1.1 Take x1 = y, x2 = ẏ, . . . , xn = y (n−1 ). Then

 
x2
 .. 
f (t, x, u) = 
 . 
 , h = x1
 xn 
g(t, x, u)

1.2 (a) x1 = q1 , x2 = q̇1 , x3 = q2 , x4 = q̇2 .

ẋ1 = x2
M gL k
ẋ2 = − sin x1 − (x1 − x3 )
I I
ẋ3 = x4
k 1
ẋ4 = (x1 − x3 ) + u
J J

(b)  
0 1 0 0
∂f (−(M gL/I) cos x1 − k/I) 0 k/I 0
= 
∂x  0 0 0 1
k/J 0 −k/J 0
[∂f /∂x] is globally bounded. Hence, f is globally Lipschitz.
(c) x2 = x4 = 0, x1 −x3 = 0 ⇒ sin x1 = 0. The equilibrium points are (nπ, 0, nπ, 0)
for n = 0, ±1, ±2, . . ..

1.3 (a) x1 = δ, x2 = δ̇, x3 = Eq .

ẋ1 = x2
ẋ2 = (P − Dx2 − η1 x3 sin x1 )/M
ẋ3 = (−η2 x3 + η3 cos x1 + EF )/τ

(b) f is continuously differentiable ∀x; hence it is locally Lipschitz ∀x. [∂f2 ][∂x1 ] =
−η1 x3 cos x1 /M is not globally bounded; hence, f is not globally Lipschitz.

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 2 CHAPTER 1.

(c) Equilibrium points:

0 = x2 , 0 = P − η1 x3 sin x1 , 0 = −η2 x3 + η3 cos x1 + EF

Substituting x3 from the third equation into the second one, we obtain
 p 
def
P = a + b 1 − y 2 y = g(y)

where
η1 EF η1 η3
y = sin x1 , a= > P, b=
η2 η2
π
0 ≤ x1 ≤ ⇐⇒ 0 ≤ y ≤ 1
2
By calculating g ′ (y) and g ′′ (y) it can be seen that g(y) starts from zero at
y = 0, increases until it reaches a maximum and then decreases to g(1) = a.
Because P < a, the equation P = g(y) has a unique solution y ∗ with 0 <
y ∗ < 1. For 0 ≤ x ≤ π/2, the equation y ∗ = sin x1 has a unique solution x∗1 .
Thus, the unique equilibrium point is (x∗1 , 0, (η3 /η2 ) cos x∗1 + EF /η2 ).

1.4 (a) From Kirchoff’s Current Law, is = vC /R + ic + iL . Let x1 = φL , x2 = vC ,

and u = is .
dφL
ẋ1 = = vL = vC = x2
dt
dvC iC 1  vC  1 I0 1
ẋ2 = = = is − − iL = − x2 − sin kx1 + u
dt C C R CR C C
 
x2
f (x, u) =
− IC0 sin kx1 − CR
1
x2 + C1 u

(b) f is continuously differentiable; hence it is locally Lipschitz.

 
∂f 0 1
=
∂x −(I0 k/C) cos kx1 −1/(CR)

[∂f /∂x] is globally bounded. Hence, f is globally Lipschitz.

(c) Equilibrium points:

Is
0 = x2 , 0 = I0 sin kx1 + Is ⇒ sin kx1 = <1
I0

Let a and b be the solutions of sin y = Is /I0 in 0 < y < π. Then the
equilibrium points are

a + 2nπ b + 2nπ
( , 0), ( , 0), n = 0, ±1, ±2, · · ·
k k

1.5 The Problem statement should say “in Part (c), Is > 0.”

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 3

(a) From Kirchoff’s Current Law, is = vC /R + ic + iL . Let x1 = φL , x2 = vC , and

u = is .
dφL
ẋ1 = = vL = vC = x2
dt
dvC iC 1  vC  1 1 1
ẋ2 = = = is − − iL = − x2 − (k1 x1 + k2 x31 ) + u
dt C C R CR C C
 
x2
f (x, u) = 1
− C1 (k1 x1 + k2 x31 ) − CR x2 + C1 u

(b) f is continuously differentiable; hence it is locally Lipschitz.

 
∂f 0 1
=
∂x −(1/C)(k1 + 3k2 x21 ) −1/(CR)

[∂f /∂x] is not globally bounded. Hence, f is not globally Lipschitz.

(c) Equilibrium points:

0 = x2 , 0 = −k1 x1 − k2 x31 + Is

There is a unique equilibrium point (x∗1 , 0) where x∗1 is the unique solution of
k1 x∗1 + k2 x∗1 3 = Is .

1.6 Projecting the force M g in the direction of F , Newton’t law yields the equation
of motion
M v̇ = F − M g sin θ − k1 sgn(v) − k2 v − k3 v 2
where k1 , k2 , and k3 are positive constants. let x = v, u = F , and w = g sin θ. The
state equation is
k1 k2 k3 2 1
ẋ = − sgn(x) − x− x + u−w
M M M M
1.7 (a) The state model of G(s) is

ż = Az + Bu, y = Cz

Moreover,
u = sin e, e = θi − θo , θ̇o = y = Cz
The state model of the closed-loop system is

ż = Az + B sin e, ė = −Cz

(b) Equilibrium points:

0 = Az + B sin e, Cz = 0
z = −A−1 B sin e =⇒ −CA−1 B sin e = 0
Since G(s) = C(sI − A)−1 B, G(0) = −CA−1 B. Therefore

G(0) sin e = 0 ⇐⇒ sin e = 0 ⇐⇒ e = nπ, n = 0, ±1, ±2, . . .

At equilibrium, z = −A−1 B sin e = 0. Hence, the equilibrium points are

(z, e) = (0, nπ).

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 4 CHAPTER 1.

1.8 By Newton’s law,

mÿ = mg − ky − c1 ẏ − c2 ẏ|ẏ|

where k is the spring constant. Let x1 = y and x2 = ẏ.

k c1 c2
ẋ1 = x2 , ẋ2 = g −
x1 − c2 − x2 |x2 |
m m m
√ √
1.9 (a) Substitution of v̇ = A(h)ḣ and wo = k p − pa = k ρgh in v̇ = wi − wo ,
results in p
A(h)ḣ = wi − k ρgh
With x = h, u = wi , and y = h, the state model is

1 √
ẋ = (u − k ρgx) , y=x
A(x)

(b) With x = p − pa , u = wi , and y = h, using ṗ = ρg ḣ, the state model is

ρg √ x
ẋ = x (u − k x), y=
A( ρg ) ρg

(c) From part (a), the equilibrium points satisfy

√
0 = u − k ρgx
√
For x = r, u = k ρgr.

1.10 (a)

ρg v̇ ρg
ẋ = ṗ = = (wi − w0 )
( " A A
 2 # )
ρg p − pa √
= α 1− − k p − pa
A β
   
ρg x2 √
= α 1− 2 −k x
A β

(b) At equilibrium,
 
x2 √
0=α 1− 2 −k x
β

x2 k√
1− 2
= x
β α
The left-hand side is monotonically decreasing over [0, β] and reaches zero
at x = β. The right-hand side is monotonically increasing. Therefore, the
forgoing equation has a unique solution x∗ ∈ (0, β).

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 5

1.11 (a) Let x1 = p1 − pa and x2 = p2 − pa .

ρg ρg
ẋ1 = ṗ1 = v̇1 = (wp − w1 )
( "A A
 2 # )
ρg p1 − pa √
= α 1− − k1 p1 − p2
A β
   
ρg x21 √
= α 1 − 2 − k1 x1 − x2
A β
ρg ρg
ẋ2 = ṗ2 = v̇2 = (w1 − w2 )
A A
ρg √ √

= k1 x1 − x2 − k2 x2
A

(b) At equilibrium,
 
x21 √ √ √
0 = α 1 − 2 − k1 x1 − x2 , 0 = k1 x1 − x2 − k2 x2
β

From the second equation,

√
k2 √ k2 x1
x2 = 2 1 2 x1 =⇒ x1 − x2 = p
k1 + k2 k12 + k22
√
Substitution of x1 − x2 in the first equation results in
√
x2 k1 k2 x1
1 − 12 = p 2
β k1 + k22

The left-hand side is monotonically decreasing over [0, β] and reaches zero
at x1 = β. The right-hand side is monotonically increasing. Therefore, the
forgoing equation has a unique solution x∗1 ∈ (0, β). Hence, there is a unique
equilibrium point at (x∗1 , x∗2 ), where x∗2 = x∗1 k12 /(k12 + k22 ).

1.12 (a)  
x2
f (x, u) =
− sin x1 − bx2 + cu
Partial derivatives of f are continuous and globally bounded; hence, f is
globally Lipschitz.

(b) η(x1 , x2 ) is discontinuous; hence the right-hand-side function is not locally

Lipschitz.

(c) The right-hand-side function is locally Lipschitz if h(x1 ) is continuously differ-

entiable. For typical h, as in Figure A.4(b), ∂h/∂x1 is not globally bounded;
in this case, it is not globally Lipschitz

(d) The right-hand-side function f is continuously differentiable; hence it is locally

Lipschitz. ∂f2 /∂z2 = −εz22 is not globally bounded; hence, f is not globally
Lipschitz.

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 6 CHAPTER 1.

(e) The right-hand-side function f is continuously differentiable; hence it is locally

Lipschitz. ∂f1 /∂x2 = u; ∂f2 /∂x1 = −u. Since 0 < u < 1, the partial
derivatives are bounded; hence, f is globally Lipschitz.
(f ) The right-hand-side function f is continuously differentiable; hence it is lo-
cally Lipschitz. ∂f1 /∂x2 = x1 ν ′ (x2 ) is not globally bounded; hence, f is not
globally Lipschitz.
(g) The right-hand-side function f is continuously differentiable; hence it is locally
Lipschitz. ∂f1 /∂x2 = −d1 x3 is not globally bounded; hence, f is not globally
Lipschitz.
(h) The right-hand-side function f is continuously differentiable; hence it is locally
Lipschitz. ∂f2 /∂x3 = −8cx3 /(1 + x1 )2 is not globally bounded; hence, f is
not globally Lipschitz.
(i) The right-hand-side function f is continuously differentiable; hence it is locally
Lipschitz. ∂f3 /∂x1 = x3 /T is not globally bounded; hence, f is not globally
Lipschitz.
(j) The right-hand-side function f is continuously differentiable; hence it is locally
Lipschitz. The partial derivatives of C(x1 , x2 )x2 are not globally bounded;
hence, f is not globally Lipschitz.
(k) The right-hand-side function f is continuously differentiable; hence it is locally
Lipschitz. ∂f2 /∂x2 = −2(mL)2 x2 sin x1 cos x1 /∆(x1 ) is not globally bounded;
hence, f is not globally Lipschitz.
(l) The right-hand-side function f is continuously differentiable; hence it is locally
Lipschitz. ∂f2 /∂x2 = −2(mL)2 x2 sin x1 cos x1 /∆(x1 ) is not globally bounded;
hence, f is not globally Lipschitz.
1.13
y = z1 = x1 =⇒ T1 (x) = x1
ż1 = ẋ1 =⇒ z2 = x2 + g1 (x1 ) =⇒ T2 (x) = x2 + g1 (x1 )
∂g1 ∂g1
ż2 = ẋ2 + ẋ1 = x3 + g2 (x1 + x2 ) + [x2 + g1 (x1 )]
∂x1 ∂x1
∂g1
=⇒ T3 (x) = x3 + g2 (x1 , x2 ) + [x2 + g1 (x1 )]
∂x1
 
x1
T (x) =  x2 + g1 (x1 ) 
∂g1
x3 + g2 (x1 , x2 ) + ∂x1 [x2 + g1 (x1 )]
 
1 0 0
∂T
= ∗ 1 0
∂x
∗ ∗ 1
[∂T /∂x] is nonsingular for all x and kT (x)k → ∞ as kxk → ∞. Hence, T is a
global diffeomorphism. To show that kT (x)k → ∞ as kxk → ∞, note that if
kxk → ∞ then |xi | → ∞ for at least one of the components of x. If |x1 | → ∞, then
|T1 (x)| → ∞. If |x1 | does not tend to ∞, but |x2 | does, then, |T2 (x)| → ∞. If both
|x1 | and |x2 | do not go to ∞, but |x3 | does, then, |T3 (x)| → ∞.

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 7

1.14
y = z1 = x1 =⇒ T1 (x) = x1
ż1 = ẋ1 =⇒ z2 = sin x2 =⇒ T2 (x) = sin x2
   
x1 ∂T 1 0
T (x) = , =
sin x2 ∂x 0 cos x2
[∂T /∂x] is nonsingular for −π/2 < x2 < π/2. The inverse transformation is given
by
x1 = z1 , x2 = sin−1 (z2 )
ż1 = z2 , ż2 = (−x21 + u) cos x2 = −z12 cos(sin−1 (z2 )) + cos(sin−1 (z2 ))u
q q
a(z) = −z12 cos(sin−1 (z2 )) = −z12 1 − z22 , b(z) = cos(sin−1 (z2 )) = 1 − z22

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