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
Let be an equilibrium of and let be a function on a neighborhood of with .
- If is positive definite and (negative semi-definite), then is stable.
- If is positive definite and is negative definite, then is asymptotically stable.
- If is positive definite and in a region where , then is unstable (Chetaev).
Proof of Part 1 (Stability)
Without loss of generality, assume . Given small enough that .
Since is continuous, positive definite, and , the minimum value on the sphere satisfies:
By continuity of at , there exists (with ) such that:
Now let be a solution with . We claim for all .
Since , the function is non-increasing. Therefore:
Suppose for contradiction that there exists with . Then:
contradicting . Hence for all , proving stability.
Proof of Part 2 (Asymptotic Stability)
From Part 1, the origin is stable. Choose and as above so that implies for all .
We must show as . Since is non-increasing and bounded below by , it converges:
We claim . Suppose . Then for all , we have , which means stays outside some neighborhood of . Specifically, there exists such that for all (since is positive definite).
On the compact set , since is negative definite (i.e., for ), there exists such that:
Therefore:
As , the right side tends to , contradicting . Hence , and since is positive definite, this forces .
Proof of Part 3 (Instability via Chetaev)
Let . By hypothesis, is a limit point of (every neighborhood of contains points where ), and on .
Choose with , and let . Pick , so .
Along the trajectory starting at , since on :
In particular, cannot approach (where ). Since is strictly increasing and bounded on , the trajectory must eventually leave .
More precisely, if remained in for all , then . The -limit set would be nonempty (contained in ), invariant, and satisfy there (since is constant on -limit sets when is monotone). But on , so the -limit set would lie outside , contradicting there. Hence must leave in finite time.
Since this holds for arbitrarily small , the equilibrium is unstable.
Key Remarks
The proof of stability uses level sets of as "barriers." The condition means trajectories cross level sets inward (toward smaller values of ). The set becomes an invariant region, trapping trajectories that start near the equilibrium.
For asymptotic stability, the strict inequality provides a uniform decay rate on compact annuli, forcing and hence .
The converse question -- does stability imply existence of a Lyapunov function? -- has an affirmative answer in many settings. The Massera theorem states: if is asymptotically stable for a system, then there exists a smooth Lyapunov function in a neighborhood of . However, constructing it explicitly remains a difficult problem.