# Model of RL Circuit using the Energy function

1. May 2, 2017

### CyberneticsInside

1. The problem statement, all variables and given/known data
From the textbook:
We define an energy function

V(\textbf{x},t) \leq 0

for the system

\dot{\textbf{x}} = \textbf{f}(\textbf{x},\textbf{u},t).

The function V may be the total energy of the system, or it may be some other function, usually related to energy. When the system evolves the time derivative of the energy function is

\dot{V} = \frac{\partial V}{\partial t} + \frac{\partial V}{\partial \textbf{x}} \textbf{f}(\textbf{x},\textbf{u},t).

(end of text from textbook)

The question:
A voltage controlled DC motor ca be described by the model

L_a \frac{d i_a}{dt} = -R_a i_a - K_E \omega_m + u_a

J_m \frac{d \omega_m}{dt} = K_T i_a - T_L

Let K_E = K_T and T_L =0 and u_a = 0
show that system is stable by using the energy function

E = \frac{1}{2} L_a i_a^2 + \frac{1}{2} J_m \omega_m^2

2. Relevant equations
The method is simple, I just need to find the time derivative of the energy function, to prove the system' stability, but I keep messing up somewhere.
3. The attempt at a solution

\dot{E} = \frac{\partial E}{\partial t} + \frac{\partial E}{\partial \textbf{x}} \textbf{f}(\textbf{x},\textbf{u},t)

Lets start with the first part on the right hand side of the equation

\frac{\partial E}{\partial t} = L_a i_a \frac{d i_a}{dt} + J_m \omega_m \dot{\omega_m}

after som rearanging and substituting, I find that this expression leads to

-R_a i_a^2

Now the second part of the right hand side:

\begin{bmatrix}
\frac{\partial E}{\partial i_a} & \frac{\partial E}{\partial \omega_m} \\
\end{bmatrix}

\begin{bmatrix}
-\frac{R_a i_a}{L_a} - \frac{K_E \omega_m}{L_a} + \frac{1}{L_a} u_a \\
\frac{K_T i_a}{J_m} - \frac{T_L}{J_m}
\end{bmatrix}

\begin{bmatrix}
L i_a & J_m \omega_m
\end{bmatrix}

\begin{bmatrix}
-\frac{R_a i_a}{L_a} - \frac{K_E \omega_m}{L_a} + \frac{1}{L_a} u_a \\
\frac{K_T i_a}{J_m} - \frac{T_L}{J_m}
\end{bmatrix}

-R_a i_a^2

(Atempt finnished)

The solutions manual states that

\dot{E} = -R_a i_a^2

and not

\dot{E} = -2R_a i_a^2

which I keep getting, I think my multivariable calculus is a bit rusty, can someone please be so kind to help me out? It would have been much appritiated. Thanks

2. May 7, 2017

### PF_Help_Bot

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