ProofComplete

Proof of Lyapunov's Stability Theorem

We present a complete proof of all three parts of Lyapunov's stability theorem, establishing the fundamental connection between energy-like functions and stability of equilibria.


Theorem Statement

Theorem7.7Lyapunov stability theorem (complete)

Let x0\mathbf{x}_0 be an equilibrium of x=F(x)\mathbf{x}' = \mathbf{F}(\mathbf{x}) and let V:DRV: D \to \mathbb{R} be a C1C^1 function on a neighborhood DD of x0\mathbf{x}_0 with V(x0)=0V(\mathbf{x}_0) = 0.

  1. If VV is positive definite and V˙0\dot{V} \leq 0 (negative semi-definite), then x0\mathbf{x}_0 is stable.
  2. If VV is positive definite and V˙\dot{V} is negative definite, then x0\mathbf{x}_0 is asymptotically stable.
  3. If VV is positive definite and V˙>0\dot{V} > 0 in a region where V>0V > 0, then x0\mathbf{x}_0 is unstable (Chetaev).

Proof of Part 1 (Stability)

Proof

Without loss of generality, assume x0=0\mathbf{x}_0 = \mathbf{0}. Given ε>0\varepsilon > 0 small enough that Bε={xε}D\overline{B_\varepsilon} = \{\|\mathbf{x}\| \leq \varepsilon\} \subset D.

Since VV is continuous, positive definite, and V(0)=0V(\mathbf{0}) = 0, the minimum value on the sphere x=ε\|\mathbf{x}\| = \varepsilon satisfies:

m=minx=εV(x)>0.m = \min_{\|\mathbf{x}\| = \varepsilon} V(\mathbf{x}) > 0.

By continuity of VV at 0\mathbf{0}, there exists δ>0\delta > 0 (with δ<ε\delta < \varepsilon) such that:

x<δ    V(x)<m.\|\mathbf{x}\| < \delta \implies V(\mathbf{x}) < m.

Now let x(t)\mathbf{x}(t) be a solution with x(0)<δ\|\mathbf{x}(0)\| < \delta. We claim x(t)<ε\|\mathbf{x}(t)\| < \varepsilon for all t0t \geq 0.

Since V˙(x)=V(x)F(x)0\dot{V}(\mathbf{x}) = \nabla V(\mathbf{x}) \cdot \mathbf{F}(\mathbf{x}) \leq 0, the function tV(x(t))t \mapsto V(\mathbf{x}(t)) is non-increasing. Therefore:

V(x(t))V(x(0))<mfor all t0.V(\mathbf{x}(t)) \leq V(\mathbf{x}(0)) < m \quad \text{for all } t \geq 0.

Suppose for contradiction that there exists t>0t^* > 0 with x(t)=ε\|\mathbf{x}(t^*)\| = \varepsilon. Then:

V(x(t))m,V(\mathbf{x}(t^*)) \geq m,

contradicting V(x(t))<mV(\mathbf{x}(t^*)) < m. Hence x(t)<ε\|\mathbf{x}(t)\| < \varepsilon for all t0t \geq 0, proving stability. \blacksquare


Proof of Part 2 (Asymptotic Stability)

Proof

From Part 1, the origin is stable. Choose ε>0\varepsilon > 0 and δ>0\delta > 0 as above so that x(0)<δ\|\mathbf{x}(0)\| < \delta implies x(t)<ε\|\mathbf{x}(t)\| < \varepsilon for all t0t \geq 0.

We must show x(t)0\mathbf{x}(t) \to \mathbf{0} as tt \to \infty. Since V(x(t))V(\mathbf{x}(t)) is non-increasing and bounded below by 00, it converges:

limtV(x(t))=L0.\lim_{t \to \infty} V(\mathbf{x}(t)) = L \geq 0.

We claim L=0L = 0. Suppose L>0L > 0. Then for all t0t \geq 0, we have V(x(t))L>0V(\mathbf{x}(t)) \geq L > 0, which means x(t)\mathbf{x}(t) stays outside some neighborhood of 0\mathbf{0}. Specifically, there exists r>0r > 0 such that x(t)r\|\mathbf{x}(t)\| \geq r for all t0t \geq 0 (since VV is positive definite).

On the compact set {rxε}\{r \leq \|\mathbf{x}\| \leq \varepsilon\}, since V˙\dot{V} is negative definite (i.e., V˙(x)<0\dot{V}(\mathbf{x}) < 0 for x0\mathbf{x} \neq \mathbf{0}), there exists α>0\alpha > 0 such that:

V˙(x)αfor all rxε.\dot{V}(\mathbf{x}) \leq -\alpha \quad \text{for all } r \leq \|\mathbf{x}\| \leq \varepsilon.

Therefore:

V(x(t))=V(x(0))+0tV˙(x(s))dsV(x(0))αt.V(\mathbf{x}(t)) = V(\mathbf{x}(0)) + \int_0^t \dot{V}(\mathbf{x}(s))\,ds \leq V(\mathbf{x}(0)) - \alpha t.

As tt \to \infty, the right side tends to -\infty, contradicting V0V \geq 0. Hence L=0L = 0, and since VV is positive definite, this forces x(t)0\mathbf{x}(t) \to \mathbf{0}. \blacksquare


Proof of Part 3 (Instability via Chetaev)

Proof

Let U={xD:V(x)>0}U = \{\mathbf{x} \in D : V(\mathbf{x}) > 0\}. By hypothesis, 0\mathbf{0} is a limit point of UU (every neighborhood of 0\mathbf{0} contains points where V>0V > 0), and V˙(x)>0\dot{V}(\mathbf{x}) > 0 on UU.

Choose ε>0\varepsilon > 0 with BεD\overline{B_\varepsilon} \subset D, and let Uε=UBεU_\varepsilon = U \cap B_\varepsilon. Pick x0Uε\mathbf{x}_0 \in U_\varepsilon, so V(x0)>0V(\mathbf{x}_0) > 0.

Along the trajectory x(t)\mathbf{x}(t) starting at x0\mathbf{x}_0, since V˙>0\dot{V} > 0 on UU:

V(x(t))>V(x0)>0as long as x(t)Uε.V(\mathbf{x}(t)) > V(\mathbf{x}_0) > 0 \quad \text{as long as } \mathbf{x}(t) \in U_\varepsilon.

In particular, x(t)\mathbf{x}(t) cannot approach 0\mathbf{0} (where V=0V = 0). Since V(x(t))V(\mathbf{x}(t)) is strictly increasing and bounded on Bε\overline{B_\varepsilon}, the trajectory must eventually leave BεB_\varepsilon.

More precisely, if x(t)\mathbf{x}(t) remained in UεU_\varepsilon for all t0t \geq 0, then V(x(t))L>V(x0)>0V(\mathbf{x}(t)) \to L > V(\mathbf{x}_0) > 0. The ω\omega-limit set would be nonempty (contained in Bε\overline{B_\varepsilon}), invariant, and satisfy V˙=0\dot{V} = 0 there (since VV is constant on ω\omega-limit sets when VV is monotone). But V˙>0\dot{V} > 0 on UU, so the ω\omega-limit set would lie outside UU, contradicting VL>0V \geq L > 0 there. Hence x(t)\mathbf{x}(t) must leave BεB_\varepsilon in finite time.

Since this holds for arbitrarily small ε\varepsilon, the equilibrium is unstable. \blacksquare


Key Remarks

RemarkGeometric interpretation

The proof of stability uses level sets of VV as "barriers." The condition V˙0\dot{V} \leq 0 means trajectories cross level sets inward (toward smaller values of VV). The set {V<m}\{V < m\} becomes an invariant region, trapping trajectories that start near the equilibrium.

For asymptotic stability, the strict inequality V˙<0\dot{V} < 0 provides a uniform decay rate on compact annuli, forcing V0V \to 0 and hence x(t)0\mathbf{x}(t) \to \mathbf{0}.

RemarkConverse theorems

The converse question -- does stability imply existence of a Lyapunov function? -- has an affirmative answer in many settings. The Massera theorem states: if x0\mathbf{x}_0 is asymptotically stable for a C1C^1 system, then there exists a smooth Lyapunov function in a neighborhood of x0\mathbf{x}_0. However, constructing it explicitly remains a difficult problem.