Why the origin is globally asymptotically stable

lyapunov-functionsordinary differential equationsreal-analysisstability-theory

If the Lyapunov function is
$$
V(x) = x^2_1 + x^2_2-1
$$

And its time derivative is
$$
\dot{V}(x) = -(x^2_1 + x^2_2)
$$

Why the origin is globally asymptotically stable?

Best Answer

Strictly speaking, $V(x) = x^2_1 + x^2_2-1 $ is not a Lyapunov function because it is not positive definite. But one can take $W(x)=V(x)+1=x^2_1 + x^2_2$. It is positive definite, radially unbounded and its derivative $\dot W(x)=\dot V(x)+0=-(x^2_1 + x^2_2)$ is negative definite; thus, the origin is globally asymptotically stable.