A unified Lyapunov method for ISS of PDEs: A tutorial on constructing generalized Lyapunov functionals for parabolic and hyperbolic equations

Abstract

This tutorial provides an overview of the generalized Lyapunov method (GLM) for analyzing input-to-state stability (ISS) of partial differential equations (PDEs). We begin by revisiting the classical Lyapunov method and the standard ISS-Lyapunov theorem, highlighting their limitations when applied to systems with complex boundary disturbances. In contrast, the GLM, based on the concept of generalized Lyapunov functionals (GLFs) that explicitly depend on the external input, offers greater flexibility and efficiency, particularly for PDEs with Dirichlet-type boundary disturbances. The main objective of this tutorial is to demonstrate how to systematically construct GLFs to establish ISS estimates in $L^q$ norms with any $q\in [2,\infty ]$ for different PDEs. Specifically, we consider three representative classes of PDEs: (i) an $N$-dimensional nonlinear parabolic equation with mixed nonlinear boundary disturbances, (ii) a first order nonlinear hyperbolic equation with boundary disturbances, and (iii) a second order linear hyperbolic equation, i.e., a wave equation, with boundary damping and disturbances. For each case, we provide step-by-step constructions of appropriate GLFs and derive explicit ISS estimates, illustrating the general applicability of the GLM. Finally, we discuss open challenges and future directions, including the systematic construction of GLFs for broader classes of PDEs and their applications in controller design.