plotting lyapunov functions using matlab.pdf
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How to plot Lyapunov functions in MATLAB
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Plotting Lyapunov Functions Using MATLAB © F.L. Lewis updated Tuesday, February 04, 2003
Example 1 Quadratic Lyapunov Function
22)( yxxV ��
>> x=[-4:.04:4]; >> y=x; >> [X,Y]=meshgrid(x,y); >> z=X.^2 + Y.^2; >> mesh(X,Y,z)
Example 2 Slotine and Li p. 63
2/)cos1()( 2�� �
���xV
>> x=[-4:.04:4]; >> y=x; >> [X,Y]=meshgrid(x,y); >> z=(1-cos(X))+(Y.^2)/2; >> meshc(X,Y,z)
Example 3 Slotine and Li p. 67
� � 2/2/)cos1(2)( 222���� �����
��xV
>> x=[-4:.04:4]; >> y=x; >> [X,Y]=meshgrid(x,y); >> z=2*(1-cos(X))+(X.^2 + Y.^2)/2 + (Y.^2)/2; >> meshc(X,Y,z)
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