Modern Control Systems (MCS)

Lecture-7
Phase Plane Analysis

Dr. Imtiaz Hussain

Assistant Professor
email: [email protected]
URL :http://imtiazhussainkalwar.weebly.com/

1
 Introduction
• The definition for stability for LTI systems is an
easy concept to understand (eigenvalues).

• It is necessary to extend the concept of

stability to nonlinear systems.

2
 Basic Idea
• To generate motion trajectories corresponding to
various initial conditions in the phase plane.

• To examine the qualitative features of the trajectories.

• In such a way, information concerning stability and

other motion patterns of the system can be obtained.

3
 State Space Trajectories
• The unforced response of a system released from any
initial point x(to) traces a curve or trajectory in state
space, with time t as an implicit function along the
trajectory.

• When state variables are represented as phase

variables, the state space is called phase space or
phase plane.

• The family of all trajectories (which started by different

initial points) is called phase portrait. 
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 Phase Plane Analysis
• A graphical method: to visualize what goes on
in a nonlinear system without solving the
nonlinear equations analytically.

• 2. Limitation: limited for second-order (or first

–order) dynamic system; however, some
practical control systems can be approximated
as second-order systems.

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 How to Plot?
• There are a number of methods for constructing
phase plane trajectories for linear or nonlinear
system, such as

1. Solution of state equations

2. analytical method
3. The method of isoclines
4. The delta method
5. Lienard’s method
6. Pell’s method
7. Software Programs (based on above six methods)
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Phase Plane Analysis of Linear
Systems

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- Consider the second-order linear system
x  ax  bx  0

1t 2tgeneral solution

x(t )  k1e  k2e
is the

• Where the eigenvalues 1 and 2are the solutions

of the characteristic equation

s 2  as  b  ( s  1 )( s  2 )  0
( a  a 2  4b ) ( a  a 2  4b )
 1  , 2 
2 2
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There is only one singular point (assuming
b  0), namely the origin.
1. 1 and 2 are both real and have the same sign
(positive or negative)
2. 1 and 2 are both real and have opposite
signs (saddle point)
3.  and  are complex conjugate with non-zero
1 2
real parts
4.  and  are complex conjugates with real
1 2
parts equal to zero (center point)
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10
11
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 Phase Portrait of LTI Systems
•• The
  system that is studied has no forcing function and is
represented by the state equation
𝑎11 𝑎1 2
 
𝑥
˙=
[ 𝑎21 𝑎 22
𝑥
]
• Let us consider a system with the given initial condition
0 3 0
 
𝑥˙ =
[ −1 −4
𝑥
]  
𝑥 (0)=
[]
2

• The system’s response is overdamped with eigenvalues at -1 and -3.

• Because one state equation is , then is a phase variable, therefore

resulting state space is called phase plane.
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 Phase Portrait (Solution of state equations)
•• The
  state transition matrix is used to obtain the expressions for
state space trajectories.
0 3 0
 
𝑥˙ =
[ −1 −4
𝑥
]  
𝑥 (0)=
[]
2

• State transition matrix for LTI system can be obtained as

 ∅ ( 𝑡 ) =L−1 [ ( 𝑆𝐼 − 𝐴 )−1 ]
• Then the solution of state equation is obtained as

𝑥 ( 𝑡 )=∅ ( 𝑡 ) 𝑥 (0)
 

−𝑡 −3𝑡
3𝑒 −3𝑒
 
𝑥 𝑡 =
( )
[
− 𝑒 −𝑡 +3 𝑒 −3 𝑡 ] 16
 Phase Portrait (Solution of state equations)
−𝑡 −3𝑡
3𝑒 −3𝑒
t=0:0.01:10;
x1=3*exp(-t)-3*exp(-3*t);
x2=-exp(-t)+3*exp(-3*t);
 
𝑥 ( 𝑡 )=[ −𝑡
− 𝑒 +3 𝑒
−3 𝑡 ]
plot(x1,x2)

1.5

0.5

-0.5
0 0.5 1 1.5
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 Example-RLC Circuit
• For the RLC circuit draw the state space trajectory with following
initial conditions.

vc (0) 1

  
+ +
Vc
• Solution iL (0) 2 - -

x(t )   (t )x(0)
vc  (2e t  e 2t ) (2e t  2e 2t ) 1
 i    t  2 t t  2t   
 L   (e  e ) (e  2e )  2

vc   3e  3e 
t 2 t vc  3e t  3e 2t
 i    t  2t 
iL  e t  3e 2t
 L    e  3e  18
 Example-RLC Circuit
• Following trajectory is obtained
State Space Trajectory of RLC Circuit
2

1.5

t-------->inf
1

0.5
iL

-0.5

-1
-1 -0.5 0 0.5 1 1.5 2
Vc
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 Example-RLC Circuit
State Space Trajectories of RLC Circuit
2

1.5
0 
1 
1  

0.5
1
0  1 0 
iL

0  
 
-0.5

0
-1 1
 

-1.5

-2
-2 -1.5 -1 -0.5 0 0.5 1 1.5 2
Vc

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 Equilibrium Point and Singular Points

• Equilibrium point is defined as a point where the

system states can stay forever

• This implies that

x (t )  0
• A singular point is an equilibrium point in the
phase plane.

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 Equilibrium Point
• The equilibrium or stationary state of the system
is when
x (t )  0
State Space Trajectories of RLC Circuit
2

1.5

0.5

0
iL

-0.5

-1

-1.5

-2
-2 -1.5 -1 -0.5 0 0.5 1 1.5 2
Vc 22
 Examples of LTI systems
1.•   (overdamped Stable System, [stable node])

  2. (overdamped unstable [saddle point]

  3. (underdamped stable System, stable focus)

  4. (underdamped Unstable System, unstable focus)

  5. (overdamped Unstable System, [unstable node])

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 Software Solution

𝑥 0 1 𝑥1
[•  ] [
˙1
𝑥
˙2
=
−1 −4 ][ ]
𝑥2

x1dom = linspace(-5,5,51);
x2dom = linspace(-5,5,51);
[x1,x2] = meshgrid(xdom,ydom); % generate mesh of domain
x1dot = x1; % dx1/dt
X2dot= = -x1-4*x2; % dx2/dt
quiver(x1,x2,x1dot,x2dot) % velocity Vectors

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Enter Equations in PPlane Applet

25
Phase Plane Analysis of
Nonlinear Systems

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 Introduction
• In discussing the phase plane analysis of nonlinear
systems, two points should be kept in mind:
– Phase plane analysis of nonlinear systems is related to
that of liner systems, because the local behavior of
nonlinear systems can be approximated by the
behavior of a linear system.

– Nonlinear systems can display much more complicated

patterns in the phase plane, such as multiple
equilibrium points and limit cycles.

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 Example
 • Consider the second-order system with state variables and whose
dynamics are most easily described in polar coordinates via the
equations
 𝑟
˙ =𝑟 (1− 𝑟 )
˙𝜃=sin 2( 𝜃 )
 
2
• Where the radius r is given as

  2 2
• And the angle θ is
𝑟= √ 𝑥 +𝑥1 2

  −1 𝑥2
0 ≤ 𝜃 = tan <2𝜋
𝑥1
 Equilibrium States
 

  2 2
 𝑟
˙ =𝑟 (1− 𝑟 ) 𝑟= √ 𝑥 +𝑥
1 2
˙𝜃=sin 2( 𝜃 )
    −1 𝑥2
0 ≤ 𝜃 = tan <2𝜋
2 𝑥1

• It is easy to see that there are precisely two equilibrium points: one
at the origin, and the other at r = 1, = 0.
 Example: Simple Pendulum

• Consider the pendulum shown in

figure.

2
 
𝑀 𝐿 𝜃+𝑏
¨ 𝜃+˙ 𝑀𝑔𝐿 sin 𝜃=0
Where,
L: the pendulum’s length
M: its mass
b: the friction coefficient at the hinge
g: the gravity constant.
 Example: Simple Pendulum
2
 
𝑀 𝐿 𝜃+𝑏
¨ 𝜃+˙ 𝑀𝑔𝐿 sin 𝜃=0
• Letting
and  

• State equation of the system are given as

x1  x2
b g
x 2   x  sin x1
2 2
MR R
 b g
x1  x2 x 2   x  sin x1
2 2
MR R

• The equilibrium points:

x2 = 0, sin x1 = 0
(0, 0) and (π, 0)

• The pendulum resting exactly at the vertical up and

down positions.
 Example
• Consider a nonlinear system described by
following state equations determine the number
of equilibrium point(s) of the system.

 
𝑥˙ =𝑥 − 𝑦
 
𝑦˙ =𝑥 2+ 𝑦2 −2

Answer
(1, 1) and (−1, −1).
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 Example
• Consider a nonlinear system described by
following state equations determine the number
of equilibrium point(s) of the system.

 
𝑥˙ =𝑥 − 𝑥𝑦
 
𝑦˙ = 𝑦 +2 𝑥𝑦

Answer
(0, 0) and (−1/2, 1).
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 Local Behavior of Nonlinear Systems
• If the singular point of interest is not at the origin, by
defining the difference between the original state and the
singular point as a new set of state variables, we can shift
the singular point to the origin.

• Using Taylor expansion a second order nonlinear system can

be rewritten in the form
 𝑥
˙ =𝑎 𝑥 1+𝑏𝑥 2 + 𝑔( 𝑥 1 , 𝑥 2)
1

 𝑥
˙ =𝑐 𝑥 1 +𝑑𝑥 2+h ( 𝑥1 , 𝑥2 )
2

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 Local Behavior of Nonlinear Systems
• In the vicinity of the origin, the higher order terms can be
neglected, and therefore, the nonlinear system trajectories
essentially satisfy the linearized equation

 𝑥˙ 1 =𝑎 𝑥 1+𝑏𝑥 2
 𝑥˙ 2 =𝑐 𝑥 1 +𝑑𝑥 2

• As a result, the local behavior of the nonlinear system

can be approximated by the patterns shown by linear
systems

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 Limit Cycle
• In the phase plane, a limit cycle is defied as an isolated
closed curve.

• The trajectory has to be both closed, indicating the

periodic nature of the motion, and isolated, indicating the
limiting nature of the cycle (with near by trajectories
converging or diverging from it).

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 Limit Cycle
• Depending on the motion patterns of the trajectories in the vicinity of
the limit cycle, we can distinguish three kinds of limit cycles.
– Stable Limit Cycles: all trajectories in the vicinity of the limit cycle converge
to it as t →∞

– Unstable Limit Cycles: all trajectories in the vicinity of the limit cycle diverge
to it as t →∞

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 Limit Cycle
– Semi-Stable Limit Cycles: some of the trajectories in the vicinity of the limit
cycle converge to it as t →∞

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 Example
• Find the equilibrium point(s) of the nonlinear
system. Then determine the type and stability of
each equilibrium point.

 𝑥
˙=𝑦 − 𝑥 (𝑥 2 + 𝑦 2 −1)
 𝑦 2 2
˙ =− 𝑥 − 𝑦 ( 𝑥 + 𝑦 −1)

• If system exhibits limit cycles then determine

the nature of limit cycle as well.

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 Example
• Find the equilibrium point(s) of each nonlinear
system given below. Then determine the type
and stability of each equilibrium point.
2
 𝑥
˙ = 𝑦 + 𝑥 (𝑥 +𝑦 2 −1)  𝑥
˙=𝑦 − 𝑥 (𝑥 2 + 𝑦 2 −1)2
1). 2 2 2).   2 2 2
 𝑦
˙ =− 𝑥+ 𝑦 ( 𝑥 + 𝑦 −1) 𝑦˙ =− 𝑥 − 𝑦 ( 𝑥 + 𝑦 −1)

• If system exhibits limit cycles then determine

the nature of limit cycle as well.

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 Exercise
• Find the equilibrium point(s) of each nonlinear system given
below. Then determine the type and stability of each
equilibrium point. If system exhibits limit cycles then determine
the nature of limit cycle as well.

 𝑥 2
1). 𝑥˙ =𝑥𝑦 − 3 𝑦
  4). ˙ =𝑥 𝑦 +3 𝑥𝑦 −10 𝑦
 𝑦
˙ =𝑥𝑦 −3 𝑥
 𝑦˙ =𝑥𝑦 − 4 𝑥

2
2).  𝑥
˙ =𝑥
2
−3 𝑥𝑦 +2 𝑥 5).  𝑥
˙ =2 − 𝑥 − 𝑦2
2
  𝑦˙ =𝑥 + 𝑦 − 1  𝑦
˙ =𝑥 − 𝑦2

 𝑥 2 2
3). ˙ =𝑥 + 𝑦 −13
𝑦˙ =𝑥𝑦 −2 𝑥 − 2 𝑦 +4
 
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 Solution
1). 𝑥˙ =𝑥𝑦 − 3 𝑦
 

 𝑦
˙ =𝑥𝑦 −3 𝑥

• Equilibrium points are (0, 0) and (−3, 3).

• (0, 0) is a stable center,
• (−3, 3) is an unstable saddle point.

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 Solution
 𝑥 2
2). ˙ =𝑥 −3 𝑥𝑦 +2 𝑥
𝑦˙ =𝑥 + 𝑦 − 1
 

• Equilibrium points are (0, 1) and (1/4, 3/4)

• (0, 1) is an unstable saddle point,
• (1/4, 3/4) is an unstable spiral point.

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 Solution
 𝑥 2 2
3). ˙ =𝑥 + 𝑦 −13
𝑦˙ =𝑥𝑦 −2 𝑥 − 2 𝑦 +4
 

• Equilibrium points are (2, 3), (2, −3), (3, 2) and (−3, 2).
• (2, 3) is an unstable saddle point
• (2, −3) is an unstable saddle point
• (3, 2) is an unstable node,
• (−3, 2) is an asymptotically stable node.

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 Solution
 𝑥 2
4). ˙ =𝑥 𝑦 +3 𝑥𝑦 −10 𝑦
 𝑦˙ =𝑥𝑦 − 4 𝑥

• Equilibrium points are (1, 1), (1, −1), (−1, 1), and (−1, −1).
• (1, 1) is an asymptotically stable spiral point,
• (1, −1) and (−1, 1) both are unstable saddle points,
• (−1, −1) is an unstable spiral point.

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 Solution
2
5).  𝑥
˙ =2 − 𝑥 − 𝑦2
2
 𝑦
˙ =𝑥 − 𝑦2

• Equilibrium points are (0, 0), (2, 4), and (−5, 4).
• (0, 0) is an unstable saddle point,
• (2, 4) is an unstable node,
• (−5, 4) is an asymptotically stable node.

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http://imtiazhussainkalwar.weebly.com/

END OF LECTURE-7

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