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Chapter 2 Analysis of NLS

This document discusses methods for analyzing nonlinear systems, including phase plane analysis and the describing function method. It covers the following key points: 1. Phase plane analysis involves plotting trajectories in the state plane to analyze stability and motion patterns without solving the nonlinear differential equations. 2. The describing function method approximates a nonlinear system by replacing it with an equivalent linear time-invariant system that best matches the steady-state response of the nonlinear system. 3. Both methods provide graphical and analytical techniques for studying nonlinear dynamics and stability without directly solving the nonlinear equations.

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Tsion Nigussie
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61 views20 pages

Chapter 2 Analysis of NLS

This document discusses methods for analyzing nonlinear systems, including phase plane analysis and the describing function method. It covers the following key points: 1. Phase plane analysis involves plotting trajectories in the state plane to analyze stability and motion patterns without solving the nonlinear differential equations. 2. The describing function method approximates a nonlinear system by replacing it with an equivalent linear time-invariant system that best matches the steady-state response of the nonlinear system. 3. Both methods provide graphical and analytical techniques for studying nonlinear dynamics and stability without directly solving the nonlinear equations.

Uploaded by

Tsion Nigussie
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PPTX, PDF, TXT or read online on Scribd
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Chapter 2

Nonlinear System analysis


Contents
• Second Order Systems
• Phase plane analysis
• Describing function method
Second order systems
• Consider a nonlinear system described by

• A usual analysis method for such system is a


plot of x1 vs x2 which is called state plane plot
or state plane trajectory
• A special case of such systems is when
Analysis of nonlinear systems
• Existence of solution
– In linear systems, a solution to the system differential
equation always exists and is unique
– However in nonlinear systems, solution may not exist or
may not be unique
– To guarantee the existence and uniqueness of solution,
conditions must be satisfied
– For a nonlinear system differential given by

– Two conditions for global existence are:

• Where kT and hT are constants


Analysis of nonlinear systems
• The above condition is called global Lipschitz
condition
• Example: check if the following nonlinear
system satisfies global Lipschitz condition
– A)
– B)
• Two important analysis methods are
– Phase plane analysis
– Describing function method
Phase plane analysis
• Is study of a second order system using
graphical method
• Is a plot of motion trajectories corresponding
to various initial conditions without solving
the nonlinear system equations
• Used to analyze stability and motion patterns
of the system
Phase plane analysis
• This is used for second order systems of the form

• For such systems, we choose two state variables x1


and x2 as

• Then the state equation becomes

• A plot of time variation of x2 versus x1 is known as


phase plane plot or phase plane trajectory
• The phase plane trajectory gives some picture on
the stability of the nonlinear system under study
Phase plane analysis
• Example: Consider the spring mass damper
system shown below
Equilibrium points
• Consider a nonlinear state space model given by

• A vector xo is called an equilibrium if

• This means when a system has an equilibrium point,


– the system moves to the equilibrium point from any
initial condition
– The system remains at the equilibrium point if it starts
from it
• Equilibrium points are solutions of the differential
equation
• Each solution point determines an equilibrium point
Equilibrium points
• Consider the system given by

• Determine the equilibrium points


Equilibrium points
• Equilibrium points are also known as singular
points
– The slope of the phase portrait at the equilibrium
points is indeterminate
• Stability is completely determined by the
nature of the singular points for linear system
but for nonlinear system limit cycle should
also be considered
Phase plane analysis
• Phase portrait may have symmetry about the
origin or about x1 or x2 axes
• Methods used
– Method of analytical solutions
– Method of isocline
– Delta method
– Pell’s method
Phase portrait analysis
• Analytical method
– is solving the differential equation for x1 and x2
and then eliminating the time variable
– Directly solving the ration of dx2/dx1 and
generating the equation relating x2 to x1
– Consider the example below
Phase plane analysis
• The system dynamics and the control signal is
given by

• Solving the dynamic equation analytically


Phase plane analysis
• Method of isocline
– Isocline is the locus of points with the same slope
• Consider the following system

• Then the isocline equation is


Phase plane analysis
• Determine the phase plane trajectory for Van
der Pol’s equation using isocline method and
computer program.
• Compare your results
Describing function method
• This is a method which consists of replacing a
nonlinear element with in a system by an equivalent
linear time invariant system which gives the best
approximation of the nonlinear system
• In replacing the nonlinear element with linear one we
use various approximations
– Optimal quasi linearization
• Where a nonlinear system N is approximated by a linear system H
and the approximation is measured by an error criteria given as

• Where the integral is integral of difference of impulse responses


and r is a reference input
Describing function method
• The reference input usually taken is sinusoidal input

• For such an input the nonlinear system output will have transient
part and steady state part
– Transient part is decaying
– Steady state part is periodic
• In optimal quasi linearization, we try to find a linear system which
can have a similar steady state part to the first harmonic of the
steady state part of the nonlinear system output for the input r(t)
• If we assume the first harmonic of the steady state output of the
nonlinear system to be given by

• Then the optimal quasi linearization of the nonlinear system is


given by a linear system whose frequency response is given by
Describing function method
• Describing function
– By definition the describing function of a
nonlinear system N is given by

– Where

– Is the first harmonic of the steady state output of


the nonlinear system and a is the amplitude of the
sinusoidal input r
Describing function method
• Consider the sign nonlinear function given as

• The describing function of this nonlinearity is


then
– Output of the nonlinear system for sinusoidal
input is square wave whose first harmonic is 4/pi

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