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Optimal Quasi Linearization: M. Sami Fadali Professor EBME University of Nevada, Reno

This document discusses optimal quasi-linearization techniques for approximating the output of a nonlinear system using a linear time-invariant system. It introduces the describing function method, which approximates the output of a nonlinear element driven by a sinusoidal input using the first harmonic response. The describing function is a complex-valued function of the input amplitude. Stability analysis can be done graphically using an extended Nyquist criterion by treating the describing function as a complex gain. Limit cycles, which indicate periodic oscillations, can occur at intersections of the describing function and open-loop transfer function plots and their stability depends on the encirclement of these intersections. Numerical examples are provided to demonstrate the technique for a relay with hysteresis nonlinearity.

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deepaknath2200
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24 views

Optimal Quasi Linearization: M. Sami Fadali Professor EBME University of Nevada, Reno

This document discusses optimal quasi-linearization techniques for approximating the output of a nonlinear system using a linear time-invariant system. It introduces the describing function method, which approximates the output of a nonlinear element driven by a sinusoidal input using the first harmonic response. The describing function is a complex-valued function of the input amplitude. Stability analysis can be done graphically using an extended Nyquist criterion by treating the describing function as a complex gain. Limit cycles, which indicate periodic oscillations, can occur at intersections of the describing function and open-loop transfer function plots and their stability depends on the encirclement of these intersections. Numerical examples are provided to demonstrate the technique for a relay with hysteresis nonlinearity.

Uploaded by

deepaknath2200
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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OptimalQuasilinearization

Givenaninput
,optimallyapproximate
theoutputofanonlinearelement
bythe
.
outputoflineartimeinvariantsystem
Minimizetheerrorcriterion

DescribingFunction
M.SamiFadali
ProfessorEBME
UniversityofNevada,Reno

_|

Mostimportantcase

FourierSeries

SufficientConditions

Sinusoids

Forthelimittoexist,thenonlinearelement
mustbeinputoutputstable(boundedoutput
foranyboundedinput
)
AlinearelementisBIBOstableifandonlyifits
impulseresponse
satisfies
Exponentialform

Theorem:HarmonicBalance

DescribingFunction

Iftheinputtoanonlinearsystem
isthe
anditsoutputhas
sinusoid
thefirstharmonic

Thedescribingfunctionofanonlinearity
withinput
isthecomplex
valuedfunction

Thenalinearsystemwithproperrationaltransfer
function
withpolesintheLHPisanoptimal
quasilinearizationof
iff

Nonlinearitywithmemory

Symmetry:Memoryless Nonlinearity
Oddnonlinearity(oddinput):

OddoutputhasonlyoddtermsinitsFourier
series
Real

e.g.hysteresis,backlash
Theoutputdependsonthesignof
Cannotusesymmetryproperties
Complex

Example:RelayWithHysteresis

FilteringHypothesis
Assumethatthelinearsubsystemis
sufficientlylowpasssothatallthebutthe
fundamentalcomponentsarenegligible.

(for

,outputisfixedat

DescribingFunctionEvaluation

10

DescribingFunction

11

12

ExtendedNyquistCriterion

ExtendedNyquistCriterion
CharacteristicequationasinNyquistcriterion

CharacteristicequationasinNyquistcriterion

Treat
asacomplexgainandusethe
Nyquistcriterionwith(1,0)replacedby
.

Foranopenloopstable
,thesystemis
closedloopstableifitspolarplotdoesnot
intersectaplotof
.
Intersectionsindicatea(possible)limitcycle.

13

14

LimitCycle

Memoryless Nonlinearity

Intersection

orequivalently

(i)
(ii)
Solvefortheintersectiongraphicallyor
analyticallytoobtain
=(Amplitude,frequency)oflimitcycle.

realandtheintersectioncanonlyoccur
ontherealaxiswhen

=(Amplitude,frequency)oflimitcycle.
Solvethefirstequationfor
secondfor .
15

,thensolvethe

16

LimitCycle:RelaywithHysteresis

StabilityoftheLimitCycle
Stable:pointsneartheintersectiononthe
increasing sideof
notencircledby
,otherwiseunstable.
thepolarplotof
Stable

Imaginarypartisaconstantindependentof

Unstable
17

18

NumericalValues

LinearSubsystem
Let

19

20

AnalyticalSolution

LimitCycle:RelaywithHysteresis
0

-0.5

rad/s

-1

-1.5

>>G=tf(20,[1,2,10]);

-2

-2.5

-3

-3.5
-2.5

21

-2

-1.5

-1

-0.5

0.5

1.5

2.5

22

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