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EE553 Lect 2

This document summarizes key concepts from a lecture on nonlinear systems. It introduces common mathematical models for nonlinear systems, including state-space and input-output models. It also defines autonomous and non-autonomous systems, and explains that autonomous systems can be approximated by time-invariant linear models while non-autonomous systems use time-varying linear models. Finally, it defines equilibrium points as states where the time derivative is zero, and provides examples of modeling nonlinear systems and finding their equilibrium points.

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28 views3 pages

EE553 Lect 2

This document summarizes key concepts from a lecture on nonlinear systems. It introduces common mathematical models for nonlinear systems, including state-space and input-output models. It also defines autonomous and non-autonomous systems, and explains that autonomous systems can be approximated by time-invariant linear models while non-autonomous systems use time-varying linear models. Finally, it defines equilibrium points as states where the time derivative is zero, and provides examples of modeling nonlinear systems and finding their equilibrium points.

Uploaded by

Iyed DERAR
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Nonlinear Systems Notes ( EE 553 )

Lecture 2
K. Hariche
IGEE/UMBB
November 5, 2020

1 Introduction
In this lecture we will consider typical mathematical modelling of nonlinear
systems and some basic de…nitions.

2 System models
Typically a nonlinear system is modelled mathematically either as an internal
( state space) model or as an external ( input/output or I/O ) model.
It may also be described by a characteristic curve representing output versus
input.
dX
The state space model for a nonlinear control system is of the form dt = f [X(t); u(t); t]; X(0) = X0
y(t) = g[X(t); u(t); t]
where X(t) is the state vector of dimension n; u(t) the control input of dimension
m and y(t) the output vector of dimension p:
The system may as well be modelled as an I/O model in the form y(t) =
G[u(t); t]
For a large class of nonlinear control systems , the dynamics are described
by an nth order nonlinear di¤erential equation relating the output y(t) to the
input u(t) as
dn y(t) n 1

dtn = F [y; dy
dt ; ; ddtn y
1 ; u(t); t]

This can be expressed in state space form by de…ning the states as:
x1 (t) = y(t)
x2 (t) = dy(t)
dt
..
. n 1
xn (t) = ddtn 1y

1
0 dx1 1 0 1
dt x2
B dx2 C B x3 C
dX(t) B dt C B C
leading to the state space equation dt =B .. C=B .. C
@ . A @ . A
dxn
F [x1 ; x2 ; ; xn ; u(t); t]
dt
dX
in the form dt = f [X(t); u(t); t]
In this course, we will be mainly concerned with state space models as they
describe the input/output relationship as well as the internal dynamics of the
system. In the analysis part, we are mainly concerned with the dynamic be-
haviour of the system under no control or under some speci…ed control. Hence,
in this part we might as well consider u(t) as a parameter.
If we de…ne fu (X; t) = f (X; u; t) and gu (X; t) = g(X; u; t) we obtain the
model used during the analysis part as:
dX dX
dt = fu (X; t) or simply as dt = f (X; t)
y(t) = gu (X; t) y(t) = g(X; t)

3 Basic de…nitions
dX
= f (X; t)
dt
De…nition 1 The system is said to be autonomous if the
y(t) = g(X; t)
functions f; g do not depend explicitely on time t; otherwise it is non-autonomous
dX
= f (X) dt
Clearly an autonomous system is described simply by :. The
y(t) = g(X)
dependence on t is implicit through the state X(t): Autonomy is the counterpart
of time-invariance for linear systems. It essentially means that that the choice
of time origin is irrelevant in the analysis od the system.
dx1
dt = x21 + tx2
Example 2 The system dx2 is clearly a nonautonomous non-
dt = x21 + x22
linear system of order 2
dx1 2
dt = 1 x1 + 2 x1 x2
Example 3 The system dx2 is an autonomous nonlin-
dt = 1 x1 + 2 x1 x2
ear system of order 2

A non-autonomous system may be approximated by a time-varying linear


model while an autonomous one may be approximated by a time-invariant linear
model.
In this course, we are mainly concerned with autonomous nonlinear systems
dX
i.e systems of the form dt = f (X); X(0) = X0 :
y(t) = g(X)

De…nition 4 A state Xe is said to be an equilibrium point of the system at


time t0 if and only if f (Xe ; t) = 0 for all t t0

2
Clearly if Xe is an equilibrium point of the system at time t0 ; then it is
an equilibrium point for all t t0 . Now if the system is autonomous Xe is
an equilibrium point for all t: Hence for an autonomous system : Xe is an
equilibrium point , f (Xe ) = 0 8t:
The expression f (Xe ) = 0 8t means that dXdt = 0 once the state reaches the
equilibrium point Xe . It follows that once an equilibrium reached, the system
will remain there forever under no external force.

Example 5 Consider a pendulum with mass m and length l: If the pendulum is


deviated by an angle from its rest position, it can be shown that its dynamics
2 2
satisfy the nonlonear di¤ erential equation l ddt2 +g sin = 0 or ddt2 + gl sin = 0
where g is the gravity constant.
dx1
x1 = dt = x2
Setting the state variables d we obtain the state equation dx2 g
x2 = dt dt = l sin x1
x2 = 0
; It follows that the equilibrium points of the pendulum satisfy g
l sin x1 = 0
k
, hence Xe = for k = 0; 1; 2;
0
0
In fact we have only two distinct equilibrium points : Xe1 = and
0
Xe = . The …rst is the rest position ( stable) while the second is clearly
0
unstable.

Example 6 Consider now a particle of mass m moving in a potential …eld and


assume for simplicity a one-dimensional motion. At the position x from the
origin the particle is subjected to a force F (x) by the …eld. The equation of
2
motion is then m ddt2x = F (x):
dx1
Setting the state variables as
x1 = x
we get the state equation dt = x2
dx dx F (x1 )
x2 = dt dt =
2
m
x2 = 0
and the equilibrium points satisfy :
F (x1 ) = 0
Hence the equilibrium points of the system are the roots of F (x):

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