Quadratic-logarithmic Lyapunov function for a feedback system

ID: quadratic-logarithmic-lyapunov-function-for-a-feedback-system

For and , on either half-plane the Lyapunov function is nonnegative, has compact sublevel sets contained in that half-plane, and satisfies . The only invariant points of are and . The invariance argument therefore makes each half-plane converge to its corresponding stable focus. The stable set of the saddle at is exactly the line .

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