Some Fundamentals of Stability Theory

Aaron Greenfield

Abstract

Stability Theory has played a part in robotics in the past and continues to be an active area of research. Some of the fundamentals of stability theory for dynamic systems are reviewed. Some of the key definitions are presented and analyzed. Theorems relating the existence of a Lyapunov function to stability are then discussed. The talk is concluded with a section discussing methods of Lyapunov function construction.
(Note, this talk is not original research, it is a topic review)

Presentation Slides

Ppt (1Mb)

 

Speaker Appointments

For appointments, please contact Aaron Greenfield (agreenfi@andrew.cmu.edu).