Lyapunov Stability Analysis

This lecture covers the Lyapunov stability analysis, focusing on the concept of Lyapunov functions, stability criteria, and the application to robotic systems. It discusses the use of Lyapunov functions to analyze the stability of dynamical systems and the conditions for asymptotic stability. The lecture also explores the process of selecting Lyapunov functions and verifying stability through the power balance method. Additionally, it delves into the importance of introducing matrices in the stability analysis and the significance of positive definite matrices. The presentation concludes with a detailed explanation of how to verify stability and asymptotic stability using Lyapunov functions.