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Nonlinear Control system 1 Introduction

Nonlinear Control system 1.1 What is the nonlinearity ?
1 Introduction
1.Introduction The “output” varying is not proportional to the “input” varying
1.1 What is the nonlinearity ? for a device.
2. Describing function The characteristic of the nonlinear device can not be described by
1.2 What is the nonlinear control system?
3.Method of the phase locus the linear differential equation.
1.3 The typical nonlinearities.
Types of the nonlinearity:
1.4 The speciality of the nonlinear systems (1) Essential nonlinearity
1.5 Analysis method of the nonlinear systems The nonlinearity y=f(x) can not be expressed as the Talor series
expansion in all x.
( 2) Nonessential nonlinearity
The y=f(x) can be expressed as the Talor series expan-sion in
all x.

1 2 3

1 Introduction 1.3 The typical nonlinearities 1.3 The typical nonlinearities

1. 2 What is the nonlinear control system? Actual examples: saturation characteristic of the amplifier;valve (3) Relay nonlinearity


journey; power limit etc. y(t )
If a control system include one or more nonlinear cha- y (t ) Mathematical description :
racteristic element or link , the system is named as the nonlinear (2) Dead zone nonlinearity b x ( t )  ma b
control system.
k 0  ma  x ( t )  a x ( t )  0 a ma x (t )
1.3 The typical nonlinearities y(t ) Mathematic al description: a x(t )
b x(t )  a 0 ma a
k 0 a y(t ) 
(1) Saturation nonlinearity b 0 x( t )  a b x ( t )  ma
Mathematic al description a k x(t ) y( t )   b
0 a k x(t) - asing x (t) x( t )  a 0  a  x ( t )  ma x ( t )  0
kx ( t ) x( t )  a
 b x ( t )  a
y(t )   b a  dead zone width; k  slope of t he linear output ;
ka  sign x(t) x ( t )  a a  relay attracting voltage; ma  relay rele ase voltage
 1 x(t)  0
sign x(t)   b  saturation output
a  linear zon e width; k  slope of t he linear characteristic;  1 x(t)  0 Actual examples: relay, switch etc.
 1 x ( t )  0 Insensitive zone of the measure system;
sign x ( t )   Actual examples: Several special relay nonlinearity:
 1 x ( t )  0 4
Turn on characteristic of the diode etc. 5 6

1.3 The typical nonlinearities 1.3 The typical nonlinearities 1.4 The characteristics of the nonlinear systems
y(t ) (distinguishing features with linear system)
(5) changeable gain nonlinearity k2
Mathematical description : Linear system Nonlinear system
a k1 x(t ) characteristics characteristics
k1 x(t) x(t)  a 0
Approximate relay nonlinearity
y(t)   a
Ideal relay nonlinearity (m=1) 1 Satisfy superposition theorem. Not satisfy superposition
k 2 x(t) x(t)  a theorem.
(4) Backlash hysteresis loop(clearance) nonlinearity y(t )
Mathematical description : a  change point 2 Stability is only related to the Stability is related to system
input, initial state, parameters,
k  x ( t )    k 1 k 2  slope of the changeable gain characteristic
b system parameters.
y ( t )  0 k structure etc.
 a  x(t )
y ( t )  k  x ( t )    y ( t )  0 0  a 3 Have two kind of work states: Have stable, unstable and self-
 y ( t )  0 stable and unstable. oscillation.
bsign x (t )
4 The form of the output is the The form of the output is
2  backlash width same as input.
Actual example: different from the input.
k  slope of the backlash characteristic gear backlash
7 8 9

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Review : 2 Describing function method of the nonlinear

1.4 The analysis and design methods of the nonlinear systems system analysis
1. What is the nonlinearity, nonlinear control system?
Four items:
2. The typical nonlinearity.
① Phase plane method
② Describing function method
Classical  3. The characteristics of the nonlinear control system.
1. What is the describing function?
2. How to get the describing function?  (modeling)
③ Computer and intelligence → modern 4. The analysis methods of the nonlinear control 3. How to analyze a nonlinear system (analysis
system: by describing function? and design)
4. Attentions and development
describing function
Classical methods:  2.1 What is the describing function?
 phase plane
(Put forwarded by P.J.Daniel, In 1940)
1. Basic idea
For the nonlinear system
10 11 12

2.1 What is the describing function? 2.1 What is the describing function? 2.1 What is the describing function?
2
1 It means:
r(t)  0 c(t )

x(t ) y(t ) A0  y ( t )d ( t )
N G(s) Fig. 7 Typical structure of 2 We can describe the nonlinear components by the fre-
the nonlinear systems 2 0 quency response .
H(s) 1
nonlinear linear
An 
  y ( t ) cos n  td ( t ) So we have:
0
If : x ( t )  X sin  t a sinusoidal input, 2. Definition of the describing function
A 2
Yn  An2  Bn2 ,  n  arctg n 1 The describing function N(X) of the nonlinear element
y(t), maybe it is not a sinusoidal but a periodic
function, can be expressed as a Fourier series:
Bn Bn 
  y ( t ) sin n  td ( t )
is: the complex ratio of the fundamental component of
Discuss: 0
i) For the symmetry nonlinearity: A0  0, and the output y(t) and the sinusoidal input x(t), that is:
ii) the harmonic of y(t) could be neglected, then: For x ( t )  X sin  t ,
output frequency is equal to y ( t )  A1 cos  t  B1 sin  t
y( t )  Y1 sin( t   1 ) Y e j1
input frequency approximately.  Y1 sin(  t   1 ) N(X )  1
13 14 Here: X 15

2.1 What is the describing function? 2.2 How to get the describing function? 2.2 How to get the describing function?
2
1 (2) Solve y(t) and obtain the fundamental component of Example 1
 y ( t ) cos  td ( t )


A1 
Y1  A12  B12  y(t). The mathematical description of a nonlinear device is:
0
A (3) Calculate the describing function N(X) according to 1 1
 1  arctg 1 1
2 y  x  x3
following formula:
B1 B1 
  y(t ) sin td (t ) 2 
2 4
Determine the describing function of the device.
0 1
Because the describing function actually is the linearized
“frequency response” → “harmonic linearization”,
A1 
  y( t ) cos  td ( t ) Y1  
A12  B12 
Solution 1
y(t ) 
1 3
x x
0  
y ( t )  Y1 sin(  t   1 ) 2
4 x  X sin  t
2
 A1 
1   1  arctg  1 3 3 1 3
B1 
 
y ( t ) sin  td ( t ) 

B1  ( X
2 16
X ) sin t 
16
X sin 3t
2.2 How to get the describing function? 0  
1. Steps Y e j1 1 3 3
X ) sin t
Y1 1 3
  X2
N(X)  1 y1 ( t )  ( X  N(X)

(1) Input a sinusoid signal x(t) to the nonlinear elements: X 2 16 2 16
2. Examples X
x ( t )  X sin  t 16 17 18

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2.2 How to get the describing function? 2.2 How to get the describing function? 2.2 How to get the describing function?
y
Example 2 Determine the describing function of the Example 3 Determine the describing function of the
saturation nonlinearity.  kXsin  t 0   t   1 dead zone nonlinearity.
 2 t  x(t )
y(t ) y
1 y( t )    y
 1
 kX  1   t 
0
b  2 k
k a t t
a x(t )  2 t 2
1 1 0 a 0 1
0 a k
 y( t ) sin  td (t )
0
A1  0 B1  
b 
0
Solution solution
2kX  a a a  x (t )
0 x(t )  arcsin   1  ( )2  0

a   X X X  1  1  arcsin
1  1  arcsin X
X B 2k  a a a 
N(X )  1  arcsin  1  ( )2  X a
x ( t )  X sin  t X   X X X  x ( t )  X sin  t
t 19 20 t 21

2.2 How to get the describing function? 2.2 How to get the describing function? 3. The describing function of some typical nonlinearity
y
0 0   t   1  1 3. The describing function of some typical nonlinearity
 M 4M h 4M
y(t)    t N(X)  1  ( )2  j
X
k ( X sin t -  )  1   t  2 X 2
M h X
4M M
 0 1 N(X)  N(X ) 
4M h
1  ( )2
X h
X X
－M
A1  0 Relay
－M
 2h 
2  arcsin(1  )
1 k k  2 X 

N(X ) 
B1 
  y(t ) sintd (t ) k 2k  a a a 
h
 2h h
  2(1  )
h 
(1  ) 
0 N( X )  arcsin  1  ( )2  backlash  X X X 
a   X X X  4kh h
2kX       hysteresis
j (  1)
   arcsin  1  ( )2  ( X  ) saturation X X
  2 X X X 
k
2k     
B1 2k      2 
N( X )    arcsin  1  ( )2 
N(X)     arcsin  1( )  ( X  )   2 X X X 
dead zone
X   2 X X X 
22 23 24

2.2 How to get the describing function? 2.3 Stability analysis of the nonlinear system by 2.3 Stability analysis of the nonlinear system by
describing function describing function
4. characters G( j) 1/Kg Im
1. Review of Nyquist criterion 2. Compare the nonlinear system with the linear system
(1) For the “single value” nonlinearity the describing Nonlinear Linear
function must be a “real number”. For the linear system: r(t )  c(t ) r(t )  x (t ) y(t ) c(t )
r(t )  c(t ) G(s) N(x) G(s)
－1 Re
 
such as the dead zone, saturation and the ideal G(s)
 γc
relay nonlinearity etc. Linear system Fig. 2.3.1 nonlinear system
(2) The describing function satisfy the superposition Fig. 2.3.1 Transfer function of the system:
principle (nonlinearity not). The characteristic equation of the system : C ( j ) G( j ) C ( j ) N ( X )G ( j )
stable  ( j )    ( j )  
For example: 1  G ( j )  0 unstable Critical
R( j ) 1  G( j ) R ( j ) 1  N ( X )G ( j )
N1 ( X ) N2( X ) N3( X ) Fig. 2.3.2
k 2 stability Characteristic equation:
y(t )  G ( j  )  1  j 0 1  N ( X )G ( j )  0
k1 1  G ( j )  0
a x(t ) + + If G ( s ) is a minimum phase transfer function, the necessary and 1
=  G ( j )   1  G ( j )  
0 a sufficient condition of the stable system is : N(X )
G ( jω) does not circle the point ( 1, j ) In the G ( j ) plane A point A curve
N ( X )  N1( X )  N 2 ( X )  N 3 ( X ) 25 26 27

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Because the describing function N(X) actually is a linearized 3. Stability analysis of the nonlinear system 2.3 Stability analysis of the nonlinear system by
describing function
frequency response, we can expand the Nyquist criterion to (For example the minimum phase system)
the nonliear system : 1 4. Self-oscillation of the nonlinear system
 : Negative inverse describing function.
3. Stability analysis of the nonlinear system N(X ) A special motion of the nonlinear system:
compare wi th Im
(For example the minimum phase system) System will be at a continuous
linear sys tem Graphical explanation is shown as following: A : stable po int
1 oscillation, which has a constant Re
(1) G ( j ) don' t circle the  (1) G ( j  ) don' t circle the point Im X increasing Im G( j ) Im amplitude and frequency, when
N(X) 1 direction stable unstable
(  1, j ) , the system is stable;  the system come under a light
curve, the nonlinear system is stable; N( X) zone zone
Re Re Re disturbance.
1 (2) G( j ) circle the point ( 1, j ), G ( j )
1
(2) G ( j ) circle the  curve, Correspon ding to th e intersec tion B: 
N( X )
N(X) unstable point G( j )
the system is unstable; 1
the nonlinear system is unstable; 1 1
point of G (jω) with  :
G( j )   N(X ) Self-oscillation
1 N(X) N (X )
(3) G ( j ) intersect with the  (3) G ( j ) intersect with the point B: unstable self-oscillation point→－1/N(X)enter unstable zone
N(X) G ( j ) G ( j )
(1, j ), the system is in the do not circle － 1/N(X) G ( j ) circle － 1/N(X) Intersect with － 1/N(A) from stable zone.
curve, there will be a self - oscillatio n (stable) (unstable) (self-oscillation) A: stable self-oscillation point→－1/N(X) enter stable zone from
critical stability.
in the nonlinear system . 28 29 unstable zone. 30

Example: (a graduate examination) 2.4 Attentions and development

Graphical explanation is shown as Fig. 2.3.6
A nonlinear system is shown in Fig.7.2.3.4. The describing function of G ( j ) 
K Exercise: for this example, if: 1. Attentions
4 K j ( j 5  1)( j10  1)
K (1) Using the describing function to analyze the nonlinear system, the
the Relay nonlineari ty is , G( s )  K G( s ) 
πX s( 5 s  1)(10s  1)  s(10s  1) 2 Linear parts of the system must be provided with a good charact-
charact-eristic of the
j (1  50 2 )  j15  low--pass filter→so that the harmonics produced by the nonlinear element can
low
1) Determine the system' s stability.  
10 1 Im be neglected.
2) Determine K and oscilation frequency  when self - oscilation amplitude   0.14 G ( j )
G( j )   1  0.14   K 50 (2) Generally the describing function method can only be used for analyzing
50 3
1 G ( j )  
10 the stability and self-
self -oscillation of the nonlinear systems, not the stead
stead--state
is X  . r 0 e 1 c K Re
 G(s) 1 X 0 X0 3 error and transient specifications.
 0     1
-1 N(X ) X  4  1 X  
2. development
3


K , unstable. 1 X Modern analysis and design method of the nonlinear systems:
10  
(1) Stability analysis: N( X ) X  4 Computer simulation and intelligent design.
Solution: Fig.7.2.3. 4 3
The system is equivalent K , self - oscillatio n Fig. 2.3.6
r 0 e c 10
to the Fig. 2.3.5. N(X) G(s)
 1 X 1 1 3
(2)      G( j )     0.14, K 
4 1 X N( X ) X  4 X  1 5 50 50
N(X )  1   
X N( X ) X  4 Fig.7.2.3. 5
31  32 33

3 Phase plane method 3.1 What is the Phase plane 3.2. plotting method of the phase locus
It is a kind of graphic method to solve first and second order differen- In the rectangula r coordinate plane constitute d by : 1. Analytic method
tial equation, put forward by Poincare In 1885. x  f ( x , x )  0
x - axis[  x ( t )] and y - axis[  x ( t )] For the system :
Four items: dx dx dx dx dx
1. What is the Phase plane？  the plane  the phase plane Because : x    x  x2 2
dt dx dt dx dx
2. How to plot the Phase plane ？  x ( t ) and x ( t )  the phase plane variables (state variable) . dx
3. How to analyze the nonlinear systems by the Phase plane method. Make : x  x1 x  x 2 we have : x 2 2   f ( x1 , x 2 )
4. Attentions and development.  relation curve between x ( t ) and x ( t )  phase trajectory . dx1
3.1 What is the Phase plane x 
x ( X 2 , X 2 ) can be x2
Phase plane If f ( x1 , x 2 )  f1 ( x1 )  f 2 ( x 2 )  dx2   f1 ( x1 )dx1
For a second - order time - invariable system : graph decomposed f 2 ( x2 )
X 1 X 2 t x
x  f ( x , x ) x2
f ( x , x ) is a linear or nonlnear function of x ( t ) and x (t).
0
( X 3 , X 3 )
Increasing t
Then :  f 2 ( x2 ) 
dx2   f1 ( x1 )dx1
x ( X 1 , X 1 ) direction
The solution of x  f ( x , x ) can be expressed by the form of the
X3 we have : F2 ( x 2 )  F1 ( x1 )
relation curve between x ( t ) and x ( t )
X2
t
Fig. 3.1 Always to be
X1
Graphic expression clockwise The relationship between x 2 (  x ) and x1 (  x ) is obtained .
34 35 36

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1. Analytic method 3.2. plotting method of the phase locus make : c  x1 , c  x 2

Example 3.1: For different x0 the phase loci are x then : x 1  x 2 dx 2 Msign( r  x1 )
Spring - mass motion system : mx  Kx  0 k=1 
a tuft of concentric circles shown x 2  c  Msign ( r  x1 ) dx1 x2
m  mass, K  spring constant. x0 x
m=1 in following figure. x2 x1
If initial condition x (0)  x0 , x (0)  0 ,
plot the phase loci.
x
Stable position
Example 3.2: For the system: that is  x 2dx2  
Msign(r  x1 )dx1
r =0 e x2 ( 0) x1 (0)
y 1 c
Solution: m x  Kx  0  x  x  0 M
when x1  r :
x2
m 1, K 1 2
- s
dx we have x 22  2 Mx1  2 Mx1 (0)  x22 (0)
then : x
dx 
  x  x dx   xdx  Plot the phase loci of the system: when x1  r : r
x1

1 1
  x 2  x 2 ( 0)    x 2  x 2 ( 0) Solution: Because : Y ( s ) 
1
 C ( s)  Y ( s )  s 2C ( s )  y  c we have x 22  2 Mx1  2 Mx1 (0)  x 22 (0)
2  2 
s2
Because x (0)  x 0 , x (0)  0  x 2  x 2  x 0 2
The phase trajectory is a circ le , x 0 is the radius.
So we have :
d 2c
dt 2
 y
M
M

rc  0
r c  0

 M sign ( r  c ) The phase loci of the system is shown in
following figure→self-oscillation.
37 38 39

3.2. plotting method of the phase locus solution (1) Plot the isoclinals for different α.
2. Graphic method---isoclinal method dx  x
In terms of : x  x  0 we have :  (2) Plot the corresponding tangents of the phase loci in each
d x dx x isoclinals.  is the slope of the phase loci.
For the systems : x  f ( x , x )  0  x  f ( x , x )  0 dx 1
dx make   then : x   x (3) Plot the phase loci starting at the initial states ( x 0 , x 0 ).
dx 2 dx 
make : x1  x , x 2  x then : x 2   f ( x1 , x 2 )  0
The isocline is the beelines passing the coordinate origin and
dx 1   0.5 x   0.5
1  1   1
dx 2 f ( x1 , x 2 ) with slope  .
    2
dx 1 x2 1   2
The  values are shown in following table for different 
dx 2 f ( x1 , x 2 ) 
make :       isocline equation x
dx 1 x2   2 1 0.5 0 － 0.5 － 1 －2   
1
 : the slope of the phase loci  0 － 0.5 －1 －2  2 1 0.5 0

Example 3.3: Spring - mass motion system : x  x  0
(x 0 , x 0 )
plot the phase loci by the isoclinal method. We can plot the isoclinals like as following figure:
40 41 42

3.2. plotting method of the phase locus 3.3 Analysis of the phase plane 1. Singularity points of the phase locus
Attentions: 1. Singularity points of the phase locus (2) Types of the singularity points
1) x - axis and x shoud have the same scale. (1) singularity points The linearized nonlinear differenti al equation in the
2) The direction of the phase loci always are clockwise : dx dx f ( x , x ) neighborho od of the singularit y point can be expressed :
For : x  x   f ( x , x ), slope :   
For x  0 : from left to right with x increasing ; dx dx x x  2ξωn x  ωn2 x  0 Characteristic 2
s  2 n s   n2  0
if f ( x , x )  0 and x  0 at the same time, then : equation:
For x  0 : from right to left with x decreasing .
dx 0 s1, 2   n   2 n2   n2
3) The slope of the phase loci through x - axis is    ,   indefinite slope.
dx 0 According to the position of s1,2 in s-plane, there are six types
so the phase loci intersect x - axis uprightly. of the singularity points:
 singularit y point.
4) apply the symmetry of the phase locus to reduce work . For 0    1  stable focus;   1  stable nodes;
 There are infinite phase loci going to or going off the
For the symmetry about x  axis : f(x, x )   f(  x, x )  1    0  unstable focus.   1  unstable nodes.
singularit y point because of the indefinite slpoe .
For the symmetry about x  axis : f(x, x )  f(x,  x )   0  center.
 The singularit y points are the balance points of the
For the symmetry about origin : f(x, x )   f(  x,  x )
nonliear systems because of x  0 at the points. If : x  2ξωn x  ωn2 x  0 and   0  saddle point
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types Roots Phase plane 3.3 Analysis of the phase plane

stable 2. limit cycle
focus A kind of phase locus with the closed loop form
centers →Corresponding to the self-oscillation.
unstable Types of the limit cycle :
focus (1) stable limit cycle
(2) unstable limit cycle
stable saddle (3) semi - stable limit cycle
nodes points

unstable
nodes
46 47 48

3.3 Analysis of the phase plane 3.3 Analysis of the phase plane
f ( x , x )
Example 3.4:  0.5
x x  0, x  0
The differenti al equation of the nonlinear contol system :
In the neighborhood of the singularity point (0, 0) the linearization
x  0.5 x  2 x  x 2  0 equation of the system is :
Determine the singularit y point of the system and plot the   0.5 x  2 x  0
x
phase loci by the isocline method. The characteristic roots are : s1, 2  0.25  j1.39.
dx  0.5 x  2 x  x 2 0 So the singularity point (0, 0) is a stable focus.
Solution make :  
dx x 0 In the neighborhood of the singularity point (-2, 0) the linearizat ion
we have the singularit y point : x  0, x  0; x  2, x  0. equation of the system is :
Linearize the nonlinear differential equation to determine the x  0.5 x  2 x  0
types of the singularity points: The characteristic roots are : s1  1.19 , s2  1.69.
According to : x   f ( x , x )  (0.5 x  2 x  x 2 ) So the singularity point (-2, 0) is a saddle point.
f ( x , x ) The phase loci plotted by the isoclinal method are shown in
we have :  2  2 x x  0, x 0  2
x x  0, x 0 49
following figure: 50 51

3.3 Analysis of the phase plane 3.3 Analysis of the phase plane 3.3 Analysis of the phase plane
3. How to get the time response x(t) from the phase locus 4. How to analyze the performance of the nonlinear systems from solution
4  0.0625e e  0.2
dx dx x the phase locus because : Y ( s)   C ( s)  y  
Because : x   dt   t i  s( s  1)  e e  0.2
dt x x avi (1) We can analyze the stability directly from the phase locus:
The graphical expression: the phase locus is convergent or divergent.
 e  e  4e  0 e  0.2
x1 x  x B
We have : 
 t1   x  xB  x A , x av1  A (2) We can analyze the self-oscillation directly from the phase e  e  0.25e  0 e  0.2
x av1 2 locus: the phase loci converge upon a limit circle.
x e( 0)  1, e( 0)  0
x 2 x  x C (3) We can transform the phase locus into the time response
A B t2   x 2  xC  x B , x av 2  B Singularity points: (0, 0), and a stable nodes in the e  e plane.
C x av 2 2 curve x(t) to analyze the rise time tr , settling time ts etc..
D The phase locus is shown in following figure:
x 3 x  x D (4) Also we can analyze the steady state error, overshoot etc.,
x t 3   x 3  x D  xC , x av 3  C (1) Stability: stable e
x av 3 2 directly from the phase locus.
(2) Steady state error ess = 0
We can get the time response curve x(t) Example 3.5 k1
k2
(3) Overshoot (1,0) e
k1  0.0625 ; k2  1;

t1 r e y K c
x from the phase locus to analyze the time
t 2 e0 s(Ts  1) (4) We can transform the phase locus
t 3 specifications, such as the rise time tr, T  1; K  4; e0  0.2
into the time response curve e(t) to
Settling time ts etc. , of the nonlinear systems. analyze the rise time tr , settling time ts etc.
t
52 If c ( 0)  c( 0)  0, analyze the unity step response of the system53 0.2 0.2 54

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3 Phase plane method

3.4 Attentions and development
(1) Phase plane method is only used for analyzing or designing
the 1st -order or 2nd -order nonlinear systems.
(2) Analyzing the nonlinear systems by phase plane method is
more all-sided compare with the describing function method.
but more complicated.
(3) Also the phase plane method is used to analyze the stability
of some intelligent control systems, such as the Fuzzy control
systems.
Exercise: For example 3.5, if the nonlinearity is:
2 1
0.2
0.5
(1) (2) 55