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2.6 Stability Theory 65
Figure 2.6.13: Example 2.6.4-a: (a)x 1 (0)=x 2 (0)=1 (b) x 1 (0)=x 2 (0)=0.1
EXAMPLE 2.6–5: Stability of the Origin
1. Consider the damped pendulum of Example 2.3.1a. Its equilibrium points
are at [nπ 0] , n=0, ±1,…. The stability of these points can be studied
T
from the stability of the origin of the system
2. Consider the rigid robot equations of Example 2.3.2, and assume
Copyright © 2004 by Marcel Dekker, Inc.
