Computation of a contraction metric for a periodic orbit using meshfree collocation

Contraction analysis uses a local criterion to prove the long-term behaviour of a dynamical system. We consider a contraction metric, i.e. a Riemannian metric with respect to which the distance between adjacent solutions contracts. If adjacent solutions in all directions perpendicular to the flow are contracted, then there exists a unique periodic orbit, which is exponentially stable. In this paper we propose a construction method using meshfree collocation to approximately solve a matrix-valued PDE problem. We derive error estimates and show that the approximation is itself a matrix-valued PDE problem. We derive error estimates and show that the approximation is itself a contraction metric if the collocation points are sufficiently dense. We apply the method to several examples

Revised CPA method to compute Lyapunov functions for nonlinear systems

The CPA method uses linear programming to compute Continuous and Piecewise Affine Lyapunov function for nonlinear systems with asymptotically stable equilibria. In it was shown that the method always succeeds in computing a CPA Lyapunov function for such a system. The size of the domain of the computed CPA Lyapunov function is only limited by the equilibrium’s basin of attraction. However, for some systems, an arbitrary small neighborhood of the equilibrium had to be excluded from the domain a priori. This is necessary, if the equilibrium is not exponentially stable, because the existence of a CPA Lyapunov function in a neighborhood of the equilibrium is equivalent to its exponential stability as shown in. However, if the equilibrium is exponentially stable, then this was an artifact of the method. In this paper we overcome this artifact by developing a revised CPA method. We show that this revised method is always able to compute a CPA Lyapunov function for a system with an exponentially stable equilibrium. The only conditions on the system are that it is C² and autonomous. The domain of the CPA Lyapunov function can be any a priori given compact neighborhood of the equilibrium which is contained in its basin of attraction. Whereas in a previous paper we have shown these results for planar systems, in this paper we cover general n-dimensional systems

Grid refinement in the construction of Lyapunov functions using radial basis functions

Lyapunov functions are a main tool to determine the domain of attraction of equilibria in dynamical systems. Recently, several methods have been presented to construct a Lyapunov function for a given system. In this paper, we improve the construction method for Lyapunov functions using Radial Basis Functions. We combine this method with a new grid refinement algorithm based on Voronoi diagrams. Starting with a coarse grid and applying the refinement algorithm, we thus manage to reduce the number of data points needed to construct Lyapunov functions. Finally, we give numerical examples to illustrate our algorithms

Computation of Lyapunov functions for systems with multiple attractors

We present a novel method to compute Lyapunov functions for continuous-time systems with multiple local attractors. In the proposed method one first computes an outer approximation of the local attractors using a graphtheoretic approach. Then a candidate Lyapunov function is computed using a Massera-like construction adapted to multiple local attractors. In the final step this candidate Lyapunov function is interpolated over the simplices of a simplicial complex and, by checking certain inequalities at the vertices of the complex, we can identify the region in which the Lyapunov function is decreasing along system trajectories. The resulting Lyapunov function gives information on the qualitative behavior of the dynamics, including lower bounds on the basins of attraction of the individual local attractors. We develop the theory in detail and present numerical examples demonstrating the applicability of our method

Automatically proving termination and memory safety for programs with pointer arithmetic

While automated verification of imperative programs has been studied intensively, proving termination of programs with explicit pointer arithmetic fully automatically was still an open problem. To close this gap, we introduce a novel abstract domain that can track allocated memory in detail. We use it to automatically construct a symbolic execution graph that over-approximates all possible runs of a program and that can be used to prove memory safety. This graph is then transformed into an integer transition system, whose termination can be proved by standard techniques. We implemented this approach in the automated termination prover AProVE and demonstrate its capability of analyzing C programs with pointer arithmetic that existing tools cannot handle

Analyzing program termination and complexity automatically with AProVE

In this system description, we present the tool AProVE for automatic termination and complexity proofs of Java, C, Haskell, Prolog, and rewrite systems. In addition to classical term rewrite systems (TRSs), AProVE also supports rewrite systems containing built-in integers (int-TRSs). To analyze programs in high-level languages, AProVE automatically converts them to (int-)TRSs. Then, a wide range of techniques is employed to prove termination and to infer complexity bounds for the resulting rewrite systems. The generated proofs can be exported to check their correctness using automatic certifiers. To use AProVE in software construction, we present a corresponding plug-in for the popular Eclipse software development environment

Review on computational methods for Lyapunov functions

Lyapunov functions are an essential tool in the stability analysis of dynamical systems, both in theory and applications. They provide sufficient conditions for the stability of equilibria or more general invariant sets, as well as for their basin of attraction. The necessity, i.e. the existence of Lyapunov functions, has been studied in converse theorems, however, they do not provide a general method to compute them. Because of their importance in stability analysis, numerous computational construction methods have been developed within the Engineering, Informatics, and Mathematics community. They cover different types of systems such as ordinary differential equations, switched systems, non-smooth systems, discrete-time systems etc., and employ di_erent methods such as series expansion, linear programming, linear matrix inequalities, collocation methods, algebraic methods, set-theoretic methods, and many others. This review brings these different methods together. First, the different types of systems, where Lyapunov functions are used, are briefly discussed. In the main part, the computational methods are presented, ordered by the type of method used to construct a Lyapunov function

Existence of piecewise linear Lyapunov functions in arbitrary dimensions

Lyapunov functions are an important tool to determine the basin of attraction of exponentially stable equilibria in dynamical systems. In Marinósson (2002), a method to construct Lyapunov functions was presented, using finite differences on finite elements and thus transforming the construction problem into a linear programming problem. In Hafstein (2004), it was shown that this method always succeeds in constructing a Lyapunov function, except for a small, given neighbourhood of the equilibrium. For two-dimensional systems, this local problem was overcome by choosing a fan-like triangulation around the equilibrium. In Giesl/Hafstein (2010) the existence of a piecewise linear Lyapunov function was shown, and in Giesl/Hafstein (2012) it was shown that the above method with a fan-like triangulation always succeeds in constructing a Lyapunov function, without any local exception. However, the previous papers only considered two-dimensional systems. This paper generalises the existence of piecewise linear Lyapunov functions to arbitrary dimensions