Describing Function: Analysis of Nonlinear Systems
Describing Function: Analysis of Nonlinear Systems
The describing function is an approximate procedure for analyzing certain nonlinear control
problems in control engineering. To start, let us first recall the basic definition of a linear
control system. Linear control systems are those where the principle of superposition (if the
two inputs are applied simultaneously, then the output will be the sum of two outputs) is
applicable. In the case of highly nonlinear control systems, we are unable to apply the
principle of superposition.
Analysis of different nonlinear controls system is very difficult due to their nonlinear
behavior. We cannot use conventional analysis methods such as the Nyquist stability criterion
or pole-zero method in order to analyze these nonlinear systems, as these methods are
restricted to linear systems. That said, there are a few advantages to non-linear systems:
• Nonlinear systems can perform better than linear systems.
• Nonlinear systems are less costly than linear systems.
• They are usually small and compact in size as compared to linear systems.
In practice, all physical systems have some form of nonlinearity. Sometimes it may even be
desirable to introduce a nonlinearity deliberately in order to improve the performance of a
system or make its operation safer. At it result, the system is more economical than linear
system.
One of the simplest examples of a system with an intentionally introduced nonlinearity is a
relay controlled or ON/OFF system. For instance, in a typical home heating system, a furnace
is turned ON when the temperature falls below a certain specified value and OFF when the
temperature exceeds another given value. Here we are going to discuss two different types of
analysis or method for analyzing the nonlinear systems. The two methods are written below
and briefly discussed with the help of an example.
• Describing function method in control system
• Phase plane method in control system
Common Non Linearities
In most types of control systems, we can not avoid the presence of certain types of non-
linearities. These can be classified as static or dynamic. A system for which there is a
nonlinear relationship between input and output, that does not involve a differential equation
is called a static nonlinearity. On the other hand, the input and output may be related through
a nonlinear differential equation. Such a system is called a dynamic nonlinearity.
Types of non-linearities in a control system:
• Saturation nonlinearity
• Friction nonlinearity
• Dead zone nonlinearity
• Relay nonlinearity (ON OFF controller)
• Backlash nonlinearity
• Saturation Nonlinearity
Saturation nonlinearity is a common type of nonlinearity. For example see this nonlinearity in
the saturation in the magnetizing curve of DC motor. In order to understand this type of
nonlinearity let us discuss saturation curve or magnetizing curve which is given below:
saturation non linearity
From the above curve we can see that the output showing linear behavior in the beginning but
after that there is a saturation in the curve which one kind of non linearity in the system. We
have also shown approximated curve.
Same type of saturation non linearity also we can see in an amplifier for which the output is
proportional to the input only for a limited range of values of input. When the input exceeds
this range, the output tends to become non linearity.
Friction Nonlinearity
Anything which opposes the relative motion of the body is called friction. It is a kind of non
linearity present in the system. The common example in an electric motor in which we find
coulomb friction drag due to the rubbing contact between the brushes and the commutator.
Electromechanical relays are frequently used in control systems where the control strategy
requires a control signal with only two or three states. This is also called as ON/OFF
controller or two state controller.
non linearity of relay
Relay Non-Linearity (a) ON/OFF (b) ON/OFF with Hysteresis (c) ON/OFF with Dead Zone.
Fig (a) shows the ideal characteristics of a bidirectional relay. In practice, relay will not
respond instantaneously. For input currents between the two switching instants, the relay may
be in one position or other depending upon the previous history of the input. This
characteristic is called ON/OFF with hysteresis that shows in Fig (b).
A relay also has a definite amount of dead zone in practice that show in Fig (c). The dead
zone is caused by the fact that the relay field winding requires a finite amount of current to
move the armature.
Backlash Nonlinearity
Another important nonlinearity commonly occurring in the physical system is hysteresis in
mechanical transmissions such as gear trains and linkages. This nonlinearity is somewhat
different from magnetic hysteresis and is commonly referred to as backlash nonlinearities.
Backlash in fact is the play between the teeth of the drive gear and those of the driven gear.
Consider a gearbox as shown in below figure (a) having backlash as illustrated in fig (b).
Where,
N = describing function,
X = amplitude of input sinusoid,
Y = amplitude of the fundamental harmonic component of output,
φ1 = phase shift of the fundamental harmonic component of output.
Let us discuss the basic concept of describing the function of non linear control system.Let us
consider the below block diagram of a non linear system, where G1(s) and G2(s) represent
the linear element and N represent the non linear element.
Let us assume that input x to the non linear element is sinusoidal, i.e,
For this input, the output y of the non linear element will be a non sinusoidal periodic
function that may be expressed in terms of Fourier series as
Most of nonlinearities are odd symmetrical or odd half wave symmetrical; the mean value Y0
for all such case is zero and therefore output will be,
As G1(s) G2(s) has low pass characteristics, it can be assumed to a good degree of
approximation that all higher harmonics of y are filtered out in the process, and the input x to
the nonlinear element N is mainly contributed by fundamental component of y i.e. first
harmonics. So in the describing function analysis, we assume that only the fundamental
harmonic component of the output. Since the higher harmonics in the output of a non linear
system are often of smaller amplitude than the amplitude of fundamental harmonic
component. Most control systems are low pass filters, with the result that the higher
harmonics are very much attenuated compared with the fundamental harmonic component.
We have the characteristic curve for saturation as shown in the given figure.
Let us take input function as
On substituting the value of the output in the above equation and integrating the function
from 0 to 2π we have the value of the constant A1 as zero.
Similarly we can calculate the value of Fourier constant B1 for the given output and the value
of B1 can be calculated as,
The phase angle for the describing function can be calculated as
We have the characteristic curve for ideal relay as shown in the given figure.
Let us take input function as
On substituting the value of the output in the above equation and integrating the function
from 0 to 2π we have the value of the constant A1 as zero.
Similarly we can calculate the value of Fourier constant B1 for the given output and the value
of B1 can be calculated as
On substituting the value of the output in the above equation y(t) = Y we have the value of
the constant B1
And the phase angle for the describing function can be calculated as
We have the characteristic curve for real realy as shown in the given figure. If X is less than
dead zone Δ, then the relay produces no output; the first harmonic component of Fourier
series is of course zero and describing function is also zero. If X > Δ the relay produces the
output.
On substituting the value of the output in the above equation and integrating the function
from zero to 2π we have the value of the constant A1 as
Similarly we can calculate the value of Fourier constant B for the given output and the value
of B1 can be calculated as
On substituting the value of the output in the above equation and integrating the function
from zero to pi we have the value of the constant B1 as
We can easily calculate the describing function of backlash from below equation