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ME451: Control Systems Course Roadmap

1. The document outlines the topics covered in the ME451: Control Systems course including modeling, analysis, and design of linear systems. 2. It discusses linearization of nonlinear systems by using Taylor series expansion to approximate the nonlinearity around an operating point in order to analyze and design controls for the system. 3. As an example, it shows linearizing a pendulum model around an operating point by taking the Taylor series expansion of the nonlinear equations of motion and defining new state variables in terms of perturbations around the operating point.

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Vu Nghia
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39 views3 pages

ME451: Control Systems Course Roadmap

1. The document outlines the topics covered in the ME451: Control Systems course including modeling, analysis, and design of linear systems. 2. It discusses linearization of nonlinear systems by using Taylor series expansion to approximate the nonlinearity around an operating point in order to analyze and design controls for the system. 3. As an example, it shows linearizing a pendulum model around an operating point by taking the Taylor series expansion of the nonlinear equations of motion and defining new state variables in terms of perturbations around the operating point.

Uploaded by

Vu Nghia
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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Course roadmap

ME451: Control Systems Modeling Analysis Design

Laplace transform Time response


Design specs
• Transient
Lecture 7 Transfer function • Steady state
Root locus
Linearization, time delays
Models for systems Frequency response
Frequency domain
• electrical • Bode plot
• mechanical
PID & Lead-
Lead-lag
• electromechanical Stability
Dr. Jongeun Choi Block diagrams • Routh-
Routh-Hurwitz
Design examples
Department of Mechanical Engineering Linearization • Nyquist

Michigan State University

(Matlab simulations &) laboratories


1 2

What is a linear system? Linear systems


ƒ A system having Principle of Superposition ƒ Easier to understand and obtain solutions
ƒ Linear ordinary differential equations (ODEs),
System ƒ Homogeneous solution and particular solution
ƒ Transient solution and steady state solution
ƒ Solution caused by initial values,
values, and forced solution
ƒ Add many simple solutions to get more complex
ones (use superposition!)
ƒ Easy to check the Stability of stationary states
(Laplace Transform)
A nonlinear system does not satisfy
the principle of superposition.
3 4
Why linearization? How to linearize it?
ƒ Real systems are inherently nonlinear. (Linear ƒ Nonlinearity can be approximated by a linear
systems do not exist!) Ex. f(t)=Kx(t), v(t)=Ri(t) function for small deviations around an
ƒ TF models are only for linear time-invariant (LTI) operating point
systems. ƒ Use a Taylor series expansion
ƒ Many control analysis/design techniques are
available for linear systems. Linear approximation
ƒ Nonlinear systems are difficult to deal with
mathematically. New coordinate
Nonlinear function
ƒ Often we linearize nonlinear systems before
analysis and design. How? Operating point

5 Old coordinate 6

Linearization Linearization (cont.)


ƒ Nonlinear system:
ƒ Let u0 be a nominal input and let the resultant
state be x0 notice that ; hence
ƒ Perturbation:
ƒ Resultant perturb:
ƒ Taylor series expansion:

N. sys L. sys.
7 8
Linearization of a pendulum model Linearization of a pendulum model (cont’)
ƒ Motion of the pendulum
ƒ Taylor series expansion of

ƒ Linearize it at
ƒ Find u0
ƒ New coordinates:

9 10

Time delay transfer function Summary and Exercises


ƒ TF derivation ƒ Modeling of
ƒ Nonlinear systems
ƒ Systems with time delay
ƒ Next
(Memorize this!) ƒ Modeling of DC motors
ƒ Exercises
ƒ The more time delay is, the more difficult to
ƒ Linearize the pendulum model at π/4
control (Imagine that you are controlling the
temperature of your shower with a very long
hose. You will either get burned or frozen!)

11 12

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