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This document discusses the linearization and digital control of a third order nonlinear system. It begins by describing how to linearize the given nonlinear system around its equilibrium point to obtain a state space model. Then it designs a state feedback controller to meet time domain specifications. Next, it discretizes the system in Simulink and analyzes the step response for different sampling times. Finally, it studies the effect on the step response of adding different nonlinearities like saturation, deadzone, and noise to the discretized system.

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Akhila Chandran
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70 views11 pages

My Assignment

This document discusses the linearization and digital control of a third order nonlinear system. It begins by describing how to linearize the given nonlinear system around its equilibrium point to obtain a state space model. Then it designs a state feedback controller to meet time domain specifications. Next, it discretizes the system in Simulink and analyzes the step response for different sampling times. Finally, it studies the effect on the step response of adding different nonlinearities like saturation, deadzone, and noise to the discretized system.

Uploaded by

Akhila Chandran
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Digital Control Systems

Guidelines for the problem

i.

Select any third order non-linear system.

ii.

Linearise the system.

iii.

Fix suitable specifications either in time or frequency domain.

iv.

Design a controller to meet the specifications in s domain.

v.

Design the controller in z domain using emulation or any direct method or state
space.

vi.

Analyze the compensated system by:


a) Changing sampling time T
b) Adding non-linearity
c) Noise effect

Page 1

Digital Control Systems

Non linear systems


Non linear systems are those systems which do not not obey the principles of homogeneity and
superposition. Practically almost all systems are non linear in nature. Saturation( a case in which
output remains constant or invariant with variations in the input), dead space (in which system
in insensitive to inputs for certain range of inputs), square law are some of the non linearities.
Normally systems operate around an equilibrium point. If the system operates around an
equilibrium point and if the signal involved is a small signal and the system behaves linearly in a
small neighborhood around this point then we can linearize that system about that point.
One of the ways to linearize a system is to expand it using Taylor Series about the point of
equilibrium point and truncating the series by removing higher order terms. The equilibrium
point should be as small as possible such that the linear approximation would not bring in large
errors.

To illustrate the linearization of a non linear system let us consider the following 3rd
order system:
3
2
+
2
+
3 sin(2) =
3
2

Above system could be written as follows:


+ + 3 sin(2) =
Now let us assume the dynamics of the systems be described by 3 states namely 1 , 2 3
and
1 = 2
2 = 3
3 = 23 + 2 + 3sin(2)
In order to linearize the system we need to find the equilibrium point. At equilibrium the
system dynamics reduces to zero, hence the equilibrium point could be calculated but equating
1 , 2 3 to zero and finally we will end up with the equilibrium point x0 as 0.

Page 2

Digital Control Systems

Expanding the non linear state equation into a Taylor series about x(t) = x0(t) and neglecting all
the higher order terms yields:
() = (0 , 0 ) + =1

( ,)

( ,)
( 0 ) + =1
( 0 )

Evaluated at x0 and r0.


Above equation could be written as

( , )
( , )
= (0 , 0 ) +
+

=1

=1

Which in turn when expressed in vector matrix form


= +
That is
1
[ 2 ] =
3

1
1
2
1
3
[1

1
2
2
2
3
2

1
3
1
2

[
2] +
3

3
3
3 ]

3
[ ]

Where
1
1
2
=
1
3
[1

1
2
2
2
3
2

1
1
3

2
, =
3

3
3
[ ]
3 ]

And A* and B* should be evaluated at equilibrium points. Thus linearizing the given system about
x0
We shall obtain the state space model as follows:
1
0
1
0 1
0

[2 ] = [ 0
0
1 ] [2 ] + [0]
6 1 2 3
1
3

Page 3

Digital Control Systems

Thus we have linearized the above system about x0.


Now let us design a state feedback controller to meet the specification of rise time ts = 5s and Mp=
25%.
In order to meet the following specifications we need to fix the dominant poles at-0.8+1.812i , -0.81.812i and -150.
Let us proceed with the design in MATLAB .
Script that should be ran in order to obtain the state feed back gain is as follows:
A= [0 1 0; 0 0 1; -6 -1 -2];
B=[0;0;1];
C=[1 0 0];
D=[0];
P= [-0.8+1.812i -0.8-1.812i -150];
K = ACKER(A,B,P)
Anew = A- B*K;
Bnew = K(1)*B;
sys= ss(Anew,Bnew,C,D);
step(sys);
stepinfo(sys);

The preceding code fragment yields the output as:


K = 582.5016

242.9233

149.6000

RiseTime: 0.7435
SettlingTime: 4.2519
SettlingMin: 0.9280
SettlingMax: 1.2366
Overshoot: 24.9364
Undershoot: 0
Peak: 1.2366
PeakTime: 1.7705

Page 4

Digital Control Systems

Step Response
1.4

1.2

Amplitude

0.8

0.6

0.4

0.2

Time (sec)

Figure 1. Step Response of the compensated system

We can see that the settling time specification as well as peak overshoot specifications has been
met. Now let us proceed to MATLABS SIMULINK in order to digitalize/discretize the
system.

Figure 2.Model of the given system in Simulink

In order to discretize the system we shall make use of Simulink tool, Model Discretizer,
with a sampling time of 0.12s.
Page 5

Digital Control Systems

Step Response
1.4

1.2

Amplitude

0.8

0.6

0.4

0.2

Time (sec)

Figure 3. Step Response of the discrete system. X-axis:time, Y-axis: Votage.

Once we discretize the given system we would get the transfer function as:

Discrete Transfer function:


0.02347 z^2 + 0.02703 z + 0.000144
-----------------------------------------------z^3 - 1.774 z^2 + 0.8253 z - 1.257e-008
Now let us obtain the step response for different sampling times.
Figure 3 has been obtained when we head set for a sampling time of 0.12s and let us consider
that to be case 1. As second case let us consider a sampling time of 0.24s.

Page 6

Digital Control Systems

Step Response
1.4

1.2

Amplitude

0.8

0.6

0.4

0.2

Time (sec)

Figure 4. Step response of the discretised system for a sampling time of 0.06s

Let the third case be a sampling time of 0.006s:

Step Response
1.4

1.2

Amplitude

0.8

0.6

0.4

0.2

Time (sec)

Figure 5.Step response for a sampling time of 0.006s

Page 7

Digital Control Systems

Analysis
On analyzing the step responses plotted for different sampling times, 0.006 gave a near accurate
reproduction of step response for the given system in its continuous form. An important point
to be noted is that the sampling time need to be less than one tenth of the Rise Time else
significant loss of information is incurred. To illustrate this let us plot the step response for a
sampling time of 0.24s.

Step Response
1.4

1.2

Amplitude

0.8

0.6

0.4

0.2

Time (sec)

Figure 6 Step response of the system for a sampling time of 0.24s

Now let us study the effect of different non linearities added to the system.
1. Saturation Non Linearity.
Saturation nonlinearity could be added to the system once it is modeled and discretized
in simulink. The step response after adding the non linearity is also shown below.
It can be observed that the Mp of the response is reduced and the response settles at 0.5,
since the saturation non linearity has upper limit and lower limit set to 0.5 and -0.5
respectively.

Page 8

Digital Control Systems

Figure 7. Model in Simulink with addition of saturation Non Linearity

Figure 8. Step Response of the system after adding saturation non linearity.

2. Dead zone Non linearity.


Now let us incorporate dead zone non linearity into the simulink model. A dead zone
which starts at 0 and ending at 0.5 has been given to the system. The response is as
shown below:

Figure 9. Dead zone Non linearity being incorporated in the system

Page 9

Digital Control Systems

Figure 10. Step Response to the dead zone non linearity

A dead zone non linearity also made the circuit settle at a less value at steady state.
3. Now let us study effect of Gaussian noise into the system.
Let us add a Gaussian noise to the model and plot the step response.

Figure 11. Model incorporating a Gaussian noise

Page 10

Digital Control Systems

Figure 12. Step Response of the system after adding noise to the system.

A Gaussian noise to the system affects it response and the response becomes
unbounded.

Page 11

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