ECE 325 Feedback and Control System 17/03/2023

LINEAR TIME
INVARIANT
SYSTEMS (LTI)
and the Linearization Process

What makes a system Linear Time-Invariant?

01 02 03
Homogeneity Superposition Time Invariance
- This property - This property means -It is when a system
describes the response output response of a acts the same
of the system to a system to the sum of regardless of time and
multiplication of the inputs is the sum of the place
input by a scalar response to the
individual

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ECE 325 Feedback and Control System 17/03/2023

Why is studying
LTI systems
important?
“Linear Systems
are important
because we can
solve them.”
- Richard
Feynman
(a) Linear system (b) Nonlinear System

Examples of some physical non linearities

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ECE 325 Feedback and Control System 17/03/2023

Linearization
Process
1) Recognize the
nonlinear component
of a differential
equation
2) Linearize it for small
signal inputs about the
steady state solution
3) Linearize the nonlinear
Differential equation
and take its Laplace
Transform

Linearization
Formula (truncated
Taylor Series)
The resulting
approximation yields a
straight-line relationship
between the change in f(x)
and the excursions away
from x0. Neglecting the
higher-order terms in a
Taylor Series, we get which
is a linear relationship
between 𝛿𝑓 𝑥 and 𝛿𝑥 for
small excursions away
from x0.

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ECE 325 Feedback and Control System 17/03/2023

Example (Linearizing a Differential Equation)

Problem: Linearize for small excursions about 𝑥 = ⁄ .

𝒅𝟐 𝒙 𝒅𝒙
+𝟐 + cos 𝒙 = 𝟎
𝒅𝒕𝟐 𝒅𝒕
Solution:
1) Recognize nonlinear component 𝐜𝐨𝐬 𝒙
2) Since we want to linearize the equation about 𝑥 = ⁄
let, 𝑥 = 𝛿𝑥 + ⁄ where 𝛿𝑥 is the small excursion about ⁄
𝑑 𝛿𝑥 + 𝜋 4 𝑑 𝛿𝑥 + 𝜋 4
+2 + cos 𝛿𝑥 + 𝜋 4 = 0
𝑑𝑡 𝑑𝑡
⁄ ⁄
but = and =
3) Linearize cos 𝛿𝑥 + ⁄ using the truncated Taylor Series
𝐟 𝒙 − 𝒇 𝒙𝟎 = 𝒅𝒇 𝒅𝒙 𝒙 − 𝒙𝟎

Solution:
𝐟 𝒙 − 𝒇 𝒙𝟎 = 𝒅𝒇 𝒙 − 𝒙𝟎 so, the linearized differential eq.
𝒅𝒙 𝒙 𝝅
𝝅
𝟒 𝒅𝟐 𝜹𝒙 𝒅 𝜹𝒙 𝟐 𝟐
Since, 𝒙𝟎 = 𝒙 = 𝜹𝒙 + 𝝅⁄𝟒 𝒅𝒕𝟐
+𝟐
𝒅𝒕
+
𝟐
−
𝟐
𝜹𝒙 = 𝟎
𝟒
Substituting, 𝒇 𝒙 = 𝒄𝒐𝒔 𝜹𝒙 + 𝝅⁄𝟒
𝝅 𝝅 𝒅𝟐 𝜹𝒙 𝒅 𝜹𝒙 𝟐 𝟐
𝒇 𝒙𝟎 = 𝒇 = 𝐜𝐨𝐬 +𝟐 − 𝜹𝒙 = −
𝟒 𝟒 𝒅𝒕𝟐 𝒅𝒕 𝟐 𝟐
𝒙 − 𝒙𝟎 = 𝜹𝒙
𝝅
𝝅 𝒅
𝒄𝒐𝒔 𝜹𝒙 + 𝝅⁄𝟒 − 𝐜𝐨𝐬 = 𝟒
𝜹𝒙
𝟒 𝒅𝒙
𝝅 𝝅
𝒄𝒐𝒔 𝜹𝒙 + 𝝅⁄𝟒 − 𝒄𝒐𝒔 = −𝐬𝐢𝐧 𝜹𝒙
𝟒 𝟒
Solving for 𝒄𝒐𝒔 𝜹𝒙 + 𝝅⁄
𝟒
𝝅 𝝅
𝒄𝒐𝒔 𝜹𝒙 + 𝝅⁄𝟒 = 𝒄𝒐𝒔 −𝐬𝐢𝐧 𝜹𝒙
𝟒 𝟒
𝟐 𝟐
𝒄𝒐𝒔 𝜹𝒙 + 𝝅⁄𝟒 = − 𝜹𝒙
𝟐 𝟐

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ECE 325 Feedback and Control System 17/03/2023

Example (Transfer Function-Nonlinear Electrical Network)

Problem: Find the transfer function,

( )
,for the electrical network which
contains a nonlinear resistor whose voltage-
current relationship is defined by 𝑖 = 2𝑒 . ,
where 𝑖 and 𝑣 are the resistor current and
voltage, respectively. Also v(t) is a small-signal
source.
Solution:
𝒅𝒊 𝒊𝒓
𝑳 + 𝟏𝟎 𝐥𝐧 − 𝟐𝟎 = 𝒗 𝒕
𝒅𝒕 𝟐
Evaluate at steady state, v(t) = 0
and VL(t) = 0 so, Vr = 20 v
Since 𝑖 = 2𝑒 . ( ) 𝑖 = 𝑖 = 14.78 𝐴

Solution:
𝑖 =equilibrium value of the network current so, the linearized differential eq.
Hence , 𝑖 = 𝑖 + 𝛿𝑖 𝒅 𝛿𝑖 𝟏 𝑖
𝒅 𝑖 + 𝛿𝑖 𝑖 + 𝛿𝑖 𝑳 + 𝟏𝟎 𝜹𝒊 + 𝐥𝐧 − 𝟐𝟎 = 𝒗 𝒕
𝑳 + 𝟏𝟎 𝐥𝐧 − 𝟐𝟎 = 𝒗 𝒕 𝒅𝒕 𝑖 𝟐
𝒅𝒕 𝟐
to linearize in 𝟏𝟎 𝐥𝐧 , Since L=1H and 𝑖 = 14.78 𝐴
𝟐
𝑖 + 𝛿𝑖 𝒅 𝛿𝑖 𝟏 14.78
𝒇 𝒊 = 𝐥𝐧 𝑳 + 𝟏𝟎 𝜹𝒊 + 𝐥𝐧 − 𝟐𝟎 = 𝒗 𝒕
𝟐 𝒅𝒕 14.78 𝟐
𝑖 𝒅 𝛿𝑖
𝒇 𝒊𝟎 = 𝐥𝐧 + 𝟏𝟎 𝟎. 𝟎𝟔𝟕𝟕𝜹𝒊 + 𝟐. 𝟎𝟎𝟎 − 𝟐𝟎 = 𝒗 𝒕
𝟐 𝒅𝒕
𝒊 − 𝒊𝟎 = 𝜹𝒊 𝒅 𝛿𝑖
𝟏 + 𝟎. 𝟔𝟕𝟕𝜹𝒊 = 𝒗 𝒕
𝒅 𝐥𝐧 𝒊 𝒅𝒕
𝑖 + 𝛿𝑖 𝑖 𝟐 Taking the Laplace Transform
𝐥𝐧 − 𝐥𝐧 = 𝜹𝒊
𝟐 𝟐 𝒅𝒊 𝒊 = 𝒊𝟎 𝑉 𝑠 = 𝑠𝛿𝐼 𝑠 + 0.677𝛿𝐼 𝑠
𝑖 + 𝛿𝑖 𝑖 𝟏 𝑉 𝑠
𝐥𝐧 − 𝐥𝐧 = 𝜹𝒊 = 𝛿𝐼 𝑠
𝟐 𝟐 𝒊𝟎 𝑠 + 0.677
𝑖 + 𝛿𝑖 𝟏 𝑖
𝐥𝐧 = 𝜹𝒊 + 𝐥𝐧
𝟐 𝑖 𝟐

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ECE 325 Feedback and Control System 17/03/2023

Solution:
𝒅 𝒅
Since 𝑉 𝑡 = 𝑳 =𝑳
𝒅𝒕 𝒅𝒕
Taking the Laplace Transform
𝑉 𝑠 = 𝐿𝑠𝛿𝐼 𝑠 = 𝑠𝛿𝐼 𝑠

𝑉 𝑠
= 𝛿𝐼 𝑠
𝑠 + 0.677

𝑉 𝑠 𝑉 𝑠
=
𝑠 + 0.677 𝑠

𝑉 𝑠
𝑠 =𝑉 𝑠
𝑠 + 0.677

𝑉 𝑠 𝑠
=
𝑉 𝑠 𝑠 + 0.677

11

Exercise 2 (Transfer Function-Nonlinear Electrical

Network)

Problem: Provide the solution to find the

linearized transfer function, 𝐺 𝑠 = ( ) ( ) , for
the electrical network below. The network
contains a nonlinear resistor whose voltage-
current relationship is defined by 𝑖 = 𝑒 . The
current source, 𝑖(𝑡), is a small-signal generator.
Solution:
𝒅𝒗
𝑪 + 𝒊𝒓 − 𝟐 = 𝒊 𝒕
𝒅𝒕
Note that 𝐶 = 1𝐹
𝑣 = 𝑣𝑜 + 𝛿𝑣
𝑖 =𝑒 =𝑒 =𝑒

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ECE 325 Feedback and Control System 17/03/2023

Solution: so, the linearized differential eq.

𝒅 𝒗𝒐 + 𝜹𝒗 𝒅 𝒗𝒐 + 𝜹𝒗
𝑪 + 𝒆𝒗𝒐 𝜹𝒗 − 𝟐 = 𝒊 𝒕 𝑪 + 𝒆𝒗𝒐 + 𝒆𝒗𝒐 𝜹v − 𝟐 = 𝒊 𝒕
𝒅𝒕 𝒅𝒕
to linearize 𝑒 ,
𝒅 𝒇 Set 𝒊 𝒕 = 𝟎 and let circuit reach steady state,
𝒇 𝒗 − 𝒇 𝒗𝟎 𝒗 − 𝒗𝟎
𝒅𝒗 𝒗 = 𝒗𝟎 𝒊𝒄 = 𝟎𝑨 so, 𝒊𝒓 = 𝟐𝑨
𝒇 𝒗 = 𝒆𝒗𝒐 𝜹𝒗 but 𝒊𝒓 = 𝒆𝒗𝒓 or 𝒗𝒓 = 𝐥𝐧 𝒊𝒓
𝒇 𝒗𝟎 = 𝒆𝒗𝒐 so, 𝒗𝒐 = 𝐥𝐧 𝟐 = 𝟎. 𝟔𝟗𝟑 𝐯
𝒗 − 𝒗𝟎 = 𝜹𝒗 𝒅 𝟎. 𝟔𝟗𝟑 + 𝜹𝒗
𝒅 𝒆𝒗 𝑪 + 𝒆𝐥𝐧𝟐 + 𝒆𝐥𝐧𝟐 𝜹v − 𝟐 = 𝒊 𝒕
𝒆𝒗𝒐 𝜹𝒗 − 𝒆𝒗𝒐 = 𝜹v 𝒅𝒕
𝒅𝒊 𝒗 = 𝒗𝟎 𝒅 𝜹𝒗
𝑪 + 𝟐 + 𝟐 𝜹v − 𝟐 = 𝒊 𝒕
𝒆𝒗𝒐 𝜹𝒗 − 𝒆𝒗𝒐 = 𝒆𝒗𝒐 𝜹v 𝒅𝒕

Taking the Laplace Transform

Solve for 𝑒 ,
𝐼 𝑠 = 𝑠𝛿𝑉 𝑠 + 2𝛿𝑉 𝑠
𝒆𝒗𝒐 𝜹𝒗 = 𝒆𝒗𝒐 + 𝒆𝒗𝒐 𝜹v
𝐼 𝑠 = 𝑠 + 2 𝛿𝑉 𝑠
𝛿𝑉 𝑠 1
=
𝐼(𝑠) 𝑠+2
Or =
( )
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