Lecture 17

Linearization of Nonlinear Systems

Dr. Radhakant Padhi

Asst. Professor
Dept. of Aerospace Engineering
Indian Institute of Science - Bangalore
Problem statement
Problem: Given a nonlinear system
X = f ( X ,U )
Derive an approximate linear system
X = AX + BU
about an "Operating Point" ( X 0 , U 0 )
Note: An operating point is a point through
which the system trajectory passes.
ADVANCED CONTROL SYSTEM DESIGN 2
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Linearization:
Scalar homogeneous systems
Scalar system: x = f ( x), x R
Operating point: x0
Define: x = x0 + x
Taylor series: HOT
( ) +

2
x
x0 + x = f ( x0 + x) = f ( x0 ) + f ( x) x + f ( x) x
x0

0
2!

Neglecting HOT, x0 + x f ( x0 ) + f ( x0 )x
ADVANCED CONTROL SYSTEM DESIGN 3
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Linearization:
Scalar homogeneous systems
x0 satisfies the differential equation x0 = f ( x0 )
This leads to x = [ f ( x0 )] x = a x

For convenience, redefine x x

This leads to x = ax
where a = f ( x )

ADVANCED CONTROL SYSTEM DESIGN 4

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
 Example 1
Linearize: x = x 2 1, x(0) = 1
df
Solution: a1 = = 2 x0 |x0 =1 = 2
dx x0 =1

df
a2 = |x0 =1 = 2 x0 |x0 =1 = 2
dx
The linearized system: x = 2x x0 = 1
x = 2 x x0 = 1
Note: As the reference point changes, the
linearized approximation also changes!
ADVANCED CONTROL SYSTEM DESIGN 5
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
 Linearization:
General homogeneous systems
Homogeneous System:
X = f (X ) , [ f1 fn ] , [ x1 xn ]
T T
f f2 X x2

f
Taylor Series: f ( X 0 + X ) = f ( X 0 ) + X + HOT
X X 0
f
X 0 + X f (X0) + X f1 f1
X X 0 x x
f 1 n

X X A=
X X 0
X = A X f n f n
x1 xn

ADVANCED CONTROL SYSTEM DESIGN 6

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Example 2: Van-der Pols Oscillator
(Limit cycle behaviour)

z Equation M x + 2c ( x 2 1) x + k x = 0 {c, k > 0}

z State variables x1 x, x2 x

z State Space Equation

x2
1
x
x = 2c 2 k : Homogeneous nonlinear system
2 ( x1 1) x2 x1
m m
X
F(X )

ADVANCED CONTROL SYSTEM DESIGN 7

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Example 2: Van-der Pols Oscillator
(Limit cycle behaviour)

x20 = [ 0 0]
T
x10
T
z Operating Point:

z Linearized State Space Equation

0 1
x1 x1
x = 2cx2 ( 2 x1 ) k x
( x1 1)
2c 2
2 x1
X =0 2
X
m m m 0 X

0 1
x1
=
2c
0 x2
m X
A

ADVANCED CONTROL SYSTEM DESIGN 8

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Linearization: General Systems
System having control input

X = f ( X ,U ) , f , X Rn , U Rm

Reference point: ( X 0 ,U 0 )
Taylor series expansion:
f ( X 0 + X , U 0 + U )
f f
= f ( X 0 ,U 0 ) + X + U + HOT
X ( X 0,U 0 ) U ( X 0 ,U 0 )

ADVANCED CONTROL SYSTEM DESIGN 9

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
 Linearization
f f
X 0 + X f ( X 0 , U 0 ) + X + U
X ( X 0,U 0 ) U ( X 0 ,U 0 )
X = A X + B U
Re-define: X X , U U
This leads to X = AX + BU
f1 f1 f1 f1
x u um
xn f 1
f 1 Bnm = =
Ann = = U ( X 0 ,U 0 )
X ( X 0 ,U 0 ) f n f n
f n f n u1 um ( X
0 ,U 0 )
x1 xn ( X
0 ,U 0 )

ADVANCED CONTROL SYSTEM DESIGN 10

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Example 3: Spinning Body Dynamics
(Satellite dynamics)
I 2 I3 1
Dynamics: 1 = 23 + 1
I1 I1
I 3 I1 1
2 = 31 + 2
I2 I2
I1 I 2 1
3 = 12 + 3
I3 I3
I1 , I 2 , I 3 : MI about principal axes
1 , 2 , 3 : Angular velocities about principal axes
1 , 2 , 3 : Torques about principal axes
ADVANCED CONTROL SYSTEM DESIGN 11
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Example 3: Spinning Body Dynamics
(Satellite dynamics)
30 = [ 0 0 0]
T
10 2
T
z Operating Point: 0

30 = [ 0 0 0]
T
10 2
T
0

z Linearized State Space Equation (Double Integrator)

1 0 0 0 1 (1/ I1 ) 0 0 1
= 0 0 0 + 0
0 2
2 2 (1/ I 2 )
3 0 0 0 3 0 0 (1/ I3 ) 3
X A X B U

ADVANCED CONTROL SYSTEM DESIGN 12

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
 Example 4: Airplane Dynamics,
Six Degree-of-Freedom Nonlinear Model
Ref: Roskam J., Airplane Flight Dynamics and Automatic Controls, 1995

(
U = VR WQ g sin + FAX + FTX / m )
( )
V = WP UR + g sin cos + FAY + FTY / m

W = UQ VP + g cos cos + ( F + F ) / m
AZ TZ

P = c1QR + c2 PQ+c3 ( L A + LT ) +c 4 ( N A + NT )
Q = c5 PR c6 ( P 2 R 2 ) + c7 ( M A + M T )
R = c8 PQ c2QR + c4 ( LA + LT ) + c9 ( N A + NT )
= P + Q sin tan + R cos tan
= Q cos R sin
= ( Q sin + R cos ) sec
X cos sin 0 cos 0 sin 1 0 0 U

Y = sin cos 0 0 1 0 0 cos sin V
Note: h = Z
Z 0 0 1 sin 0 cos 0 sin cos W

ADVANCED CONTROL SYSTEM DESIGN 13

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Linearization using Small
Perturbation Theory
Perturbation in the variables:
U = U 0 + U V = V0 + V W = W0 + W
P = P0 + P Q = Q0 + Q R = R0 + R
X = X 0 + X Y = Y0 + Y Z = Z 0 + Z
X T = X T0 + X T YT = YT0 + YT ZT = ZT0 + Z
M = M 0 + M N = N 0 + N L = L0 + L
= 0 + = 0 + = 0 +
A = A + A E = E + E R = R + R
0 0 0

ADVANCED CONTROL SYSTEM DESIGN 14

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Trim Condition for
Straight and Level Flight
z Assume: V0 = P0 = Q0 = R0 = 0 = YT0 = ZT0 = 0
Typically True t
z Select: X T0 , z I0 (i.e. h0 )

z Enforce: U = V = W = P = Q = R = = = zI = 0

z Solve for: U 0 , W0 , X 0 , Y0 , Z 0 , L0 , M 0 , N 0 , 0

z Verify: Y0 = L0 = M 0 = N 0 = 0

ADVANCED CONTROL SYSTEM DESIGN 15

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Linearization using Small
Perturbation Theory
Reference: R. C. Nelson, Flight Stability and Automatic Control, McGraw-Hill, 1989.

X X X X
X = U + W + E + T
U W E T
Y Y Y Y
Y = V + P + R + R
V P R R
Z Z Z Z Z Z
Z = U + W + W + Q + E + T
U W W Q E T

L L L L L
L = V + P + R + R + A
V P R R A
M M M M M M
M = U + W + W + Q + E + T
U W W Q E T
N N N N N
N = V + P + R + R + A
V P R R A

ADVANCED CONTROL SYSTEM DESIGN 16

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
 State Variable Representation of
Longitudinal Dynamics
Reference: R. C. Nelson, Flight Stability and Automatic Control, McGraw-Hill, 1989.

State space form:

X = AX + BU c

XU XW 0 g U
W
ZU ZW U0 0 X =
A= Q
MU + M W ZU M W + M W ZW M Q + MWU 0 0

0 0 1 0

X E X T Uc = E
T
Z E Z T
B=
M + M W Z E M T + M W Z T 1 X 1 X
E XU = , XW = etc.
0 0 m U m W

ADVANCED CONTROL SYSTEM DESIGN 17

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
 State Variable Representation
of Lateral Dynamics
State space form: X = AX + BU c
YV YP (U 0 YR ) g cos 0
V
LV * + I XZ NV I
LP + XZ N P
I
LR + XZ N R 0 P
IX IX IX X =
A= R
NV + I XZ LV N P +
I XZ
LP N R +
I XZ
LR 0
IZ IZ IZ

0 1 0 1
0 Y R

L * + I XZ N
L R +
I XZ
N R
A A
A
B=
IX IX
Uc =
N + I XZ L R
N R + XZ L R
I
A IZ A

IZ

0 0

ADVANCED CONTROL SYSTEM DESIGN 18

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Linearization: Points to remember
z Linearized system is always a local
approximation about the operating point
z As the operating point changes, the linearized
model changes (for the same nonlinear system)
z The usual objective of control design using the
linearized dynamics is deviation minimization
(i.e. regulation)
z Control design based on linearized dynamics
always relies on the philosophy of gain
scheduling (i.e. gain interpolation)
ADVANCED CONTROL SYSTEM DESIGN 19
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
ADVANCED CONTROL SYSTEM DESIGN 20
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore