Advanced Control System –

Regulation – 2017
17EE741, MODULE - 4

MODULE – 4

Non-linear systems Analysis: Introduction, Common Nonlinear System Behaviours, Common

Nonlinearities in Control Systems, Fundamentals, Describing Functions of Common Nonlinearities,
Stability Analysis by Describing Function Method, Concept of Phase Plane Analysis, Construction of
Phase Portraits, System Analysis on the Phase Plane.

CONTROL SYSTEM

A control system is a system of devices that manages commands, directs or regulates the
behavior of other devices to achieve a desired result. In other words, the control system can
be simplified as a system which controls other systems to achieve a desired state.

There are various types of control systems, which can be broadly categorized as
Linear control systems
Non-linear control systems

Linear Control Systems

In order to understand the linear control system, we should first understand the principle of
superposition. The principle of superposition theorem includes two the important
properties and they are explained below:

Homogeneity: A system is said to be homogeneous, if we multiply input with some constant A then
the output will also be multiplied by the same value of constant (i.e. A).

Additivity: Suppose we have a system S and we are giving the input to this system as a1 for the first
time and we are getting the output as b1 corresponding to input a1. On the second time we are
giving input a2 and correspond to this we are getting the output as b2.

Examples of Linear Control System

Consider a purely resistive network with a constant DC source.
This circuit follows the principle of homogeneity and additivity.
All the undesired effects are neglected and assuming ideal behavior of each element in the
network, we say that we will get linear voltage and current characteristic.

Non-linear Control Systems

We can simply define a nonlinear control system as a control system which does not follow
the principle of homogeneity.
In real life, all control systems are non-linear systems (linear control systems only exist in
theory). The describing function is an approximate procedure for analyzing certain
nonlinear control problems.

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 Advanced Control System –
Regulation – 2017
17EE741, MODULE - 4

Examples of Non-linear System

A well-known example of a non-linear system is a magnetization curve or no load curve of a
DC machine.
No load curve gives us the relationship between the air gap flux and the field winding mmf.
It is very clear from the curve given below that in the beginning, there is a linear relationship
between winding mmf and the air gap flux but after this, saturation has come which shows
the nonlinear behavior of the curve or characteristics of the nonlinear control system.

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.

Prepared by: Prof. RAMYA. K, Dept. of EEE Sri Sairam College of Engineering Anekal. Page|
 Advanced Control System –
Regulation – 2017
17EE741, MODULE - 4

Advantages of Non-Linear System

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.

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 given below and briefly discussed.

Describing function method in control system

Phase plane method in control system

Common Non Linearities

In most types of control systems, we cannot 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:

From the above curve we can see that the output showing linear behavior in the beginning but after
that there is saturation in the curve which one kind of non-linearity in the system. We have also
shown approximated curve.

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 Advanced Control System –
Regulation – 2017
17EE741, MODULE - 4

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.

Types of Friction

Static Friction : In simple words, the static friction acts on the body when the body is at rest.
Dynamic Friction : Dynamic friction acts on the body when there is a relative motion between the
surface and the body.
Limiting Friction : It is defined as the maximum value of limiting friction that acts on the body
when it is at rest.

Dynamic friction can also be classified as

Sliding friction
Rolling friction.

Sliding friction acts when two bodies slides over each other while rolling acts when the bodies rolls
over another body.
In mechanical system we have two types of friction namely
Viscous friction
Static friction.

Dead Zone Nonlinearity

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 Advanced Control System –
Regulation – 2017
17EE741, MODULE - 4

Dead zone nonlinearity is shown in various electrical devices like motors, DC servo motors,
actuators etc. Dead zone non linearities refer to a condition in which output becomes zero
when the input crosses certain limiting value.

Relays Nonlinearity (ON/OFF Controller)

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 controllers.

Relay Non-Linearity

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 Advanced Control System –
Regulation – 2017
17EE741, MODULE - 4

(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).

Fig (b) shows the teeth A of the driven gear located midway between the teeth B1, B2 of the
driven gear.
Fig (c) gives the relationship between input and output motions. As the teeth A is driven
clockwise from this position, no output motion takes place until the tooth A makes contact
with the tooth B1 of the driven gear after traveling a distance x/2. This output motion
corresponds to the segment mn of fig (c).
After the contact is made the driven gear rotates counterclockwise through the same angle
as the drive gear if the gear ratio is assumed to be unity. This is illustrated by the line
segment no. As the input motion is reversed, the contact between the teeth A and B1 is lost
and the driven gear immediately becomes stationary based on the assumption that the load
is friction controlled with negligible inertia.

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 Advanced Control System –
Regulation – 2017
17EE741, MODULE - 4

The output motion, therefore, causes till tooth A has traveled a distance x in the reverse
direction as shown in fig (c) by the segment op. After the tooth A establishes contact with the
tooth B2, the driven gear now mores in a clockwise direction as shown by segment pq.
As the input motion is reversed the direction gear is again at standstill for the segment qr
and then follows the drive gear along rn.

Describing Function Analysis of Nonlinear Systems

The describing function method is used for finding out the stability of a nonlinear system of
all the analytical methods developed over the years for nonlinear control systems, this
method is generally agreed upon as being the most practically useful. This method is
basically an approximate extension of frequency response methods including Nyquist
stability criterion to nonlinear system.
The describing function method of a nonlinear system is defined to be the complex ratio of
amplitudes and phase angle between fundamental harmonic components of output to input
sinusoid. We can also called sinusoidal describing function. Mathematically,

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 nonlinear control system. Let us
consider the below block diagram of a nonlinear system, where G1(s) and G2(s) represent the
linear element and N represent the nonlinear element.

Let us assume that input x to the nonlinear element is sinusoidal, i.e,

For this input, the output y of the nonlinear element will be a non-sinusoidal periodic function that
may be expressed in terms of Fourier series as

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 Advanced Control System –
Regulation – 2017
17EE741, MODULE - 4

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 nonlinear 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.

Hence, y1 need only be considered.

We can write y1(t) in the form,

Where by using phasor,

The coefficient A1 and B1 of the Fourier series are given by-

From definition of describing function we have,

Concept of Phase Plane Analysis

Phase plane analysis is a graphical method for studying second-order systems. The main objective
is to gain familiarity of the nonlinear systems through the simple graphical method.

Phase portraits
The phase plane method is concerned with the graphical study of second-order autonomous
systems described by

Prepared by: Prof. RAMYA. K, Dept. of EEE Sri Sairam College of Engineering Anekal. Page|
 Advanced Control System –
Regulation – 2017
17EE741, MODULE - 4

Where X1 & X2 are the System State Variables and f1 & f2 are the system non-linear functions.

Geometrically, the state space of this system is a plane having x1, x2 as coordinates. This plane is
called phase plane. The solution of the above equation with time varies from zero to infinity can be
represented as a curve in the phase plane. Such a curve is called a phase plane trajectory. A family
of phase plane trajectories is called a phase portrait of a system.

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