Sri RAMSWAROOP MEMORIAL

UNIVERSITY
Report On
NONLINEAR CONTROL SYSTEM

Session :2019-20
Name:-shubham singh & Mohd faiz khan
Roll no:-201610103110012 &
201610103110001 ,b.tech (EE)

Sumitted To:- Er. Yashwant kumar singh

Electrical Engineering Dept.
 ABSTRACT:-

Last five decades witnessed remarkable

developments in linear control systems and thus
problems in this subject has been largely resolved.
The scope of the present paper is beyond linear
solutions. Modern technology demands
sophisticated control laws to meet stringent design
specifications thus highlighting the increasingly
conspicuous position of nonlinear control systems,
which is the topic of this paper. Historical role of
analytical concepts in analysis and design of
nonlinear control systems is briefly outlined. Recent
advancements in these systems from applications
perspective are examined with critical comments on
associated challenges. It is anticipated that wider
dissemination of this comprehensive review will
stimulate more collaborations among the research
community and contribute to further developments .

Introduction:-

Real world systems are inherently nonlinear in nature

at least when considered over wide operating range al-
though many of the systems are assumed to ’behave’ as
linear in the vicinity of a certain operating point at low
speeds under certain assumptions. Many physical pro-25
cesses are represented by nonlinear models. Examples in-
clude; coulomb friction, gravitational and electrostatic
atraction, voltage-current characteristics of most
electronic.
systems and drag on a vehicle in motion. Recently, many
researchers from such broad areas like process control, 30
biomedical engineering, robotics, aircraft and spacecraft
control have shown an active interest in the design and
analysis of nonlinear control strategies. Thus, most of the
real problems necessitate invariably bumping into nonlin-
earities.
 NON-LINEAR SYSTEM:-

In mathematics and science , a nonlinear system is

a system in which the change of the output is not
proportional to the change of the input.Nonlinear
problems are of interest to engineers,
biologists,physicists,mathematicians, and many
other scientists because most systems are
inherently nonlinear in nature.Nonlinear dynamical
systems, describing changes in variables over time,
may appear chaotic, unpredictable, or
counterintuitive, contrasting with much simpler
linear systems.

Saturation nonlinear

The characteristic of saturation is mathematically

expressed as
(4.4)y={+Kx>xsax−xs≤x≤xs−Kx<xs
An element with saturation nonlinearity has a linear
region within input limits. When the input exceeds
that limit, the output becomes constant. Figure 4.4
shows y as a function of x, and it is clear that the
slope of the function is a=Kxs. The figure also
shows the typical behavior in addition to the
modeled behavior. Often the saturation is modeled
as a hard saturation, meaning that there is an abrupt
transition from the linear to saturation However, in
real systems, the saturation is usually more
accurately modeled by a curve smoothly connecting
the linear and saturation regions. The smooth
transition can be modeled mathematically, but one
must consider the benefit of adding complexity to
the model and whether the expression in (4.4) is
accurate enough
 Fig{4.4}
Dead Zone Nonlinearity:-
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
controller.

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).

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.
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.
Phase Plane Analysis:-

Phase plane analysis is one of the most

important techniques for studying the behavior
of nonlinear systems, since there is usually no
analytical solution for a nonlinear system.

Advantages of Phase Plane Analysis:

  It is graphical analysis and the solution trajectories can
be represented by curves in a plane.

 Provides easy visualization of the system qualitative .

 Without solving the nonlinear equations analytically,

one can study the behavior of the nonlinear system
from various initial conditions.

 It is not restricted to small or smooth nonlinearities and

applies equally well to strong and hard nonlinearities.

 There are lots of practical systems which can be

approximated by second-order systems, and apply
phase plane analysis.

Disadvantage of Phase Plane Method:-

 It is restricted to at most second-order

 graphical study of higher-order is computationally and

geometrically complex.

Concept of Phase Plane Analysis:-

  Phase plane method is applied to Autonomous Second
Order System.
𝑥1=𝑓1(𝑥1,𝑥2) 𝑥2=𝑓2(𝑥1,𝑥2)

 System response 𝑋𝑡=(𝑥1𝑡,𝑥2(𝑡)) to initial condition

𝑋0=𝑥10,𝑥20 is a mapping from ℝ(Time) to ℝ2(𝑥1,𝑥2).

 The solution can be plotted in the 𝑥1−𝑥2 plane called

State Plane or Phase Plane.

 The locus in the 𝑥1−𝑥2plane is a curved named

Trajectorythat pass through point 𝑋0

 The family of the phase plane trajectories

corresponding to various initial conditions is called
Phase portrait of the system.

 For a single DOF mechanical system, the phase plane

is in fact is (𝑥,𝑥)plane𝑥1=𝑓1(𝑥1,𝑥2)𝑥2=𝑓2(𝑥1,𝑥2)

Sketching phase trajectories:-

 The sketching of the phase trajectories is the basis of

phase plane analysis.

 Analytical method and graphical method are two main

methods for plotting the phase trajectory.
  The graphical method is used to construct the phase
trajectory indirectly.

Graphical method:-

 Ther are number graphical methods,where method is

isoclines is easy to realize ans widely used.

 By taking A to be different values, we can draw the

corresponding isoclines in the phase plane.

 The phase portrait can be obtained by sketching the

continous lines along the field of directions.

Thank you