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Control Engineering ME - 4012: Instructor Muhammad Rizwan Siddiqui

This document provides an overview of nonlinear systems and linearization. It discusses that nonlinear systems cannot be described by linear differential equations and lack the properties of superposition and homogeneity. The document then covers steps for linearizing a nonlinear differential equation, which involves recognizing the nonlinear component, finding the steady-state solution, linearizing around that point, and taking the Laplace transform. Finally, it introduces state-space representation, which models systems using state equations and output equations, and provides an example of converting a differential equation into state-space form.

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Talha Jalil
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51 views23 pages

Control Engineering ME - 4012: Instructor Muhammad Rizwan Siddiqui

This document provides an overview of nonlinear systems and linearization. It discusses that nonlinear systems cannot be described by linear differential equations and lack the properties of superposition and homogeneity. The document then covers steps for linearizing a nonlinear differential equation, which involves recognizing the nonlinear component, finding the steady-state solution, linearizing around that point, and taking the Laplace transform. Finally, it introduces state-space representation, which models systems using state equations and output equations, and provides an example of converting a differential equation into state-space form.

Uploaded by

Talha Jalil
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Control Engineering

ME – 4012
Instructor
Muhammad Rizwan Siddiqui
MS Mechanical (GIKI, Swabi)
PhD in Progress (NUST, Isb)
Nonlinearities

• The models studied thus far are developed from systems that can be
described approximately by linear differential equations
• A linear system possesses two properties: superposition and homogeneity.
Superposition

The property of superposition means that the output response of a system to


the sum of inputs is the sum of the responses to the individual inputs

Thus, if an input of r1(t) yields an output of c1(t) and an input of r2(t) yields an
output of c2(t), then an input of r1(t) + r2(t) yields an output of c1(t) + c2(t).
Homogeneity
The property of homogeneity describes the response of the system to a
multiplication of the input by a scalar
Specifically, in a linear system, the property of homogeneity is demonstrated
if for an input of r1(t) that yields an output of c1(t), an input of Ar1(t) yields an
output of Ac1(t)
Linearization

A designer can often make a linear approximation to a nonlinear system.


Linear approximations simplify the analysis and design of a system and are
used as long as the results yield a good approximation to reality.
However, if any nonlinear components are present, we must linearize the
system before we can find the transfer function.
Steps for Linearization
• The first step is to recognize the nonlinear component and write the
nonlinear differential equation
• When we linearize a nonlinear differential equation, we linearize it for small-
signal inputs about the steady-state solution when the small-signal input is
equal to zero
• This steady-state solution is called equilibrium and is selected as the second
step in the linearization process
• Next we linearize the nonlinear differential equation, and then we take the
Laplace transform of the linearized differential equation, assuming zero
initial conditions.
Transfer Function

Finally, we separate input and output variables and form the transfer function.
Linearization
• If we assume a nonlinear system operating at point A, [x ; f(x )]
0 0

• Small changes in the input can be related to changes in the output about the
point by way of the slope of the curve at the point A.
• Thus, if the slope of the curve at point A is m , then small excursions of the
a
input about point A, δx, yield small changes in the output, δ f(x), related by
the slope at point A
Linearization

Taylor series expansion


Linearizing a Differential Equation
Mechanical system with Non-Linear spring

• Linearize the following mechanical system around f(t)=1. A non-linear spring


with xs(t) = 1 – efs(t) is installed in the system.
x(t)

f(t)

1 N-s/m
Self Study Assignment
(Not to be submitted)

Example 2.28: Transfer Function—Nonlinear Electrical Network


State-Space Representation

1. Introduction to state-space modeling


• Definition
• How it relates to other modeling techniques
2. choosing state variables
3. Transforming between model types
4. State-space modeling example
State-Space Representation

Definition:
A state-space model represents a system by a series of first order differential
state equations and algebraic output equations
• can be handle complex systems
• More geometric understanding of a dynamic system
• Forms the basis for much of modern control theory
State

The state of a dynamic system is the smallest set of variables (called state
variables) such that knowledge of these variables at t=t0 , together with
knowledge of the input for t ≥ t0 , completely determines the behavior of the
system for any time t ≥ t0 .
State Variables

The state variables of a dynamic system are the variables making up the
smallest set of variables that determine the state of the dynamic system
State Vector

If n state variables are needed to completely describe the behavior of a given


system, then these n state variables can be considered the n components of a
vector x. Such a vector is called a state vector
State Space
State-Space Equations
In state-space analysis we are concerned with three types of variables that are
involved in the modeling of dynamic systems: input variables, output
variables, and state variables

where A(t) is called the state matrix, B(t) the input matrix, C(t) the output
matrix, and D(t) the direct transmission matrix.
State-Space Equations

Block diagram of the linear, continuous time control system represented in state pace.

where A(t) is called the state matrix, B(t) the input matrix, C(t) the output matrix,
and D(t) the direct transmission matrix.
Example
Convert the following equation into state-space model:

State equations
States
• 

Let the output:


Example

For the linear systems, we can write the given equations in the matrices form:

•For  the above example:

+ [0]x
Thank You

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