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Modern Ch-1

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22 views25 pages

Modern Ch-1

Uploaded by

Adem Abdela
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Modern Control System (MEg5201)

CHAPTER 1
INTRODUCTION

Lidiya A.

2023/24 GC
OUTLINE
1. Review of vector matrix analysis

2. Introduction to non-linear systems, non-linear control systems

3. Describing function analysis of Non-linear control systems

4. Stability of Non-linear control systems


Review of vector matrix analysis
A matrix is an m x n array of numbers, where m is the number of rows and n is the
number of columns.
Special Matrices
Cont…
Matrix Operation
Cont… The size of the resulting matrix
[C] is from the number of rows
m of the left-hand matrix and the
number of columns n of the
right-hand matrix, m x n.

 This example is the dot product between two column


vectors, i.e. the dot product can be found by
transposing the first vector and using matrix
multiplication:

Differentiation and Integration of s Matrix
Matrix Determinant
 The determinant of a square n x n matrix is a scalar.
 The matrix determinant is undefined for a non-square matrix.
 The determinant of a square matrix A is denoted det(𝐴) 𝑜𝑟 𝐴 .
 The MATLAB function for matrix determinant is 𝒅𝒆𝒕(𝑨)
Cont…
 To calculate the determinant of 3 x 3 and larger square matrices, we can
expand about any one row or column, utilizing sub-matrix determinants. Each
sub-determinant is formed by crossing out the current row and its column and
retaining the remaining terms as an n–1 x n–1 square matrix
Cont…
 Singular matrix - if the determinant of a matrix is zero we call that matrix
singular.

 Non-singu;ar matrix - if the determinant of a matrix isn’t zero we call the


matrix nonsingular.
Example-1
 Find the determinant of each of the following matrices

Answer:

1) det (A) = 0
2) det (B) = 42
Adjoint of Matrix

Cofactor:
Matrix Inversion
Since we cannot divide by a matrix, we multiply by the matrix inverse instead.
Given 𝐶 = 𝐴 𝐵 , solve for [B].
Cont…
To calculate the matrix inverse use the following expression.
The MATLAB function for matrix determinant is 𝒊𝒏𝒗 𝑨

2x2 Matrix Inversion

For a 2x2 matrix only, the above method to calculate the matrix inverse based on the adjoint
and determinant yields a simple formula:
Example
Find the inverse of the following matrix, if it exists

The inverse of doesn’t EXIST.


Systems of Linear Equations
We can solve n linear equations in n unknowns with the help
of a matrix. Below is an example for n = 3.

Where 𝑎𝑖𝑗 are the nine known numerical equation


coefficients, 𝑥𝑖 are the three unknowns, and 𝑏𝑖 are the three
known right-hand-side terms.
Using matrix multiplication backwards, this is written as:
𝐴 𝑥 = 𝑏
Cont…
Simplifying up the notation a little gives
Example: Solution of 2x2 coupled linear equations

The determinant of [A] is non-zero so there is a unique solution.


MATLAB Examples
Introduction to non-linear systems, non-linear control
systems
Nonlinear Systems: are systems whose behavior cannot be described by a linear
combination of their inputs and outputs.
the output does not have a proportional relationship with the input. This means that
small changes in the input can lead to large changes in the output, and vice versa.
Time-variant behavior, which make it difficult to predict the system's behavior over
long periods of time, and can require sophisticated modeling techniques to analyze.
the system may be subject to random variations that are difficult to predict or control.
Linear systems are much easier to analyze than In contrast, nonlinear systems can be much more
nonlinear systems, due to the fact that the relationship difficult to model and analyze due to their complex
between input and output is proportional. In a linear behavior. Nonlinear systems may exhibit a wide range
system, the output can be accurately modeled using of behaviors, including chaos, bifurcations, and limit
linear equations, and the behavior of the system can be cycles, which can be difficult to predict or control.
predicted with a high degree of accuracy

Nonlinear control systems have more complex mathematical relationships.


Techniques for Controlling Nonlinear System
These systems are often found in nature and engineering and can be challenging to
control. Fortunately, there are several techniques available for controlling nonlinear
systems
Feedback linearization is a powerful technique used to convert a nonlinear system into
an approximately linear system so that the well-established linear control theory can be
used to analyze and design the control system.
The technique is particularly useful for systems with known nonlinearities that can be canceled
out using the control law.

Backstepping is a technique used to design control laws for nonlinear systems. The idea
of backstepping is to design control laws for simple subsystems of the overall system, and
then combine them to form the complete control law.
It is particularly useful for systems with complex dynamics that cannot be easily
linearized. It can also be used to design robust control laws that can handle uncertainties
and disturbances in the system.
Cont…
Sliding mode control is a technique used to stabilize nonlinear systems by constraining
the system to a specific sliding surface. The control law then forces the system to stay on
the surface, which can be used to control the behavior of the system. This technique is
particularly useful for systems with uncertainties or disturbance inputs.
Adaptive control is a technique used to adjust the control parameters of a system based
on its behavior and environment. The idea is to adapt the control law in real-time to
achieve the desired performance and stability. This technique can be particularly useful for
systems with unknown dynamics or changes in their environment.
Neural network control is a technique that uses artificial neural networks to learn the
control law for a nonlinear system. The neural network is trained using data from the
system and can adapt to changes in the system's behavior.
It has been successfully applied to a wide range of nonlinear systems, including robotic
systems, chemical processes, and power systems. The technique is particularly useful
for systems with uncertain or time-varying parameters.
Stability of Non-linear control systems
Lyapunov Stability Theory
Lyapunov stability theory is a technique used to analyze the stability of nonlinear systems.

The idea is to design a Lyapunov function that can be used to determine if the system is stable
or unstable.

Input-Output Stability
nput-output stability is a method used to analyze the stability of a nonlinear system with respect
to its inputs and outputs.

The idea is to design a function that relates the system input to its output and then analyze the
stability of this function.
The End
Chapter 1: Introduction

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