Lyapunov方程系统本身稳定性判定与镇定性判定考虑系统 x ˙ = A x , (1) \dot{\boldsymbol{x}}=A\boldsymbol{x},\tag{1} x˙=Ax,(1)令Lyapunov函数 V ( x ) = x T P x , (2) V(\boldsymbol{x})=\boldsymbol{x}^TP\boldsymbol{x},\tag{2} V(x)=xTPx,(2)对Lyapunov函数求导 V ˙ = x ˙ T P x + x T P x ˙ = x T A T P x + x T P A x , \do