Examples – Describing Function Analysis

Nonlinea
Linear element
r element
1
𝐺 ( 𝑠 )=
𝑠( 𝑠+1)(𝑠 +2)
𝑤=𝑓 ( 𝑥 ) 𝐺(𝑠)
𝑟 ( 𝑡 ) =0 𝑥(𝑡) 𝑤(𝑡) 𝑦 (𝑡)
+
-
Predict the existence of LC for
a. Signum nonlinearity
b. Saturation Nonlinearity with slope 𝑤(𝑡)
𝑀 =1
𝑏1 4
𝑁 ( 𝐴 )= =
1+𝐺 ( 𝑗 𝜔 ) 𝑁 ( 𝐴 , 𝜔 )=0 𝑥(𝑡)
𝐴 𝜋𝐴

1+ 𝑅𝑒 [ 𝐺 ( 𝑗 𝜔 ) 𝑁 ( 𝐴 , 𝜔 ) ] =0

[ √ ( )]
𝑤(𝑡)

( )
2
𝑘 2 −1 𝑎 𝑎 𝑎
𝐼𝑚 [ 𝐺 ( 𝑗 𝜔 ) ] =0
𝑁 ( 𝐴 )= sin + 1−
𝑎 𝑥(𝑡)
𝜋 𝐴 𝐴 𝐴
 1
𝐺 ( 𝑠 )=
𝑠( 𝑠+1)(𝑠 +2) 1+ 𝑅𝑒 [ 𝐺 ( 𝑗 𝜔 ) 𝑁 ( 𝐴 , 𝜔 ) ] =0

1 (− 𝑗 𝜔+1)(− 𝑗 𝜔+2)
𝐺 ( 𝑗 𝜔 )= × 1+ 𝑁 ( 𝐴 ) 𝑅𝑒 [ 𝐺 ( 𝑗 𝜔 ) ] =0
𝑗 𝜔( 𝑗 𝜔+1)( 𝑗 𝜔+2) (− 𝑗 𝜔+1)(− 𝑗 𝜔+2)

−3 𝑗 𝜔+(2 − 𝜔2 ) 3 𝜔 − 𝑗 (2 − 𝜔2 ) 3𝜔
¿ ¿ 1+ 𝑁 ( 𝐴 ) =0
2
𝑗 𝜔( 𝜔 +1)(𝜔 + 4)
2 2 2
𝜔( 𝜔 +1)(𝜔 + 4) 𝜔 ( 𝜔 +1 ) ( 𝜔 + 4 )
2 2

𝐼𝑚 [ 𝐺 ( 𝑗 𝜔 ) ] =0 3
1+ 𝑁 ( 𝐴 ) =0
(3) (6 )
−(2 −𝜔 2 )
2 2
=0
𝜔( 𝜔 +1)(𝜔 + 4) ⇒ 𝑁 ( 𝐴 )=6

⇒ (2− 𝜔 2)=0

⇒ 𝜔=√ 2
 𝑁 ( 𝐴 )=6 Saturation Nonlinearity

[ ( ) ]=6
Signum nonlinearity

( ) √
2
2 −1 𝑎 𝑎 𝑎
4 sin + 1−
=6 𝜋 𝐴 𝐴 𝐴
𝜋𝐴

No solution which means that

Limit cycle exists with amplitude

[ ( ) √ ( )]
2
period corresponding to 2 −1 𝑎 𝑎 𝑎
sin + 1− ≤1
𝜋 𝐴 𝐴 𝐴
 Examples – Describing Function Analysis
Nonlinea
Linear element
r element
−𝑠
𝐺 ( 𝑠 )= 2
𝑠 +0.8 𝑠+ 8
𝑤=𝑓 ( 𝑥 ) 𝐺(𝑠)
𝑟 ( 𝑡 ) =0 𝑥(𝑡) 𝑤(𝑡) 𝑦 (𝑡)
+
-
Predict the existence of LC for
a. Saturation with
b. Deadzone with , 𝑤(𝑡)

[ √ ( )]
𝑘
( )
2
2 −1 1 1 1
𝑎=1
( )
𝑁 𝐴 = sin + 1−
1+𝐺 ( 𝑗 𝜔 ) 𝑁 ( 𝐴 , 𝜔 )=0 𝑥(𝑡)
𝜋 𝐴 𝐴 𝐴

1+ 𝑅𝑒 [ 𝐺 ( 𝑗 𝜔 ) 𝑁 ( 𝐴 , 𝜔 ) ] =0 𝑤(𝑡)
𝑘

[ ( ) √ ( )]
2
𝐼𝑚 [ 𝐺 ( 𝑗 𝜔 ) ] =0
−𝛿
( ) 1 𝜋 −1 1 1 1
𝛿 𝑥(𝑡)
𝑁 𝐴= − sin + 1−
𝜋 2 𝐴 𝐴 𝐴
 −𝑠
𝐺 ( 𝑠 )= 2
𝑠 +0.8 𝑠+ 8 1+ 𝑅𝑒 [ 𝐺 ( 𝑗 𝜔 ) 𝑁 ( 𝐴 , 𝜔 ) ] =0

− 𝑗𝜔 ( 8 − 𝜔2 ) − 𝑗 0.8 𝜔
𝐺 ( 𝑗 𝜔 )= 2 × 1+ 𝑁 ( 𝐴 ) 𝑅𝑒 [ 𝐺 ( 𝑗 𝜔 ) ] =0
− 𝜔 + 𝑗 0.8 𝜔+8 ( 8 − 𝜔2 ) − 𝑗 0.8 𝜔

− 𝑗 𝜔 ( 8 −𝜔 ) − 0.8 𝜔
2 2
− 0.8 𝜔 2
¿ 1+ 𝑁 ( 𝐴 ) 2 2
=0
2 2
( 8 − 𝜔 ) + ( 0.8 𝜔 ) 2
( 8 − 𝜔 ) + ( 0.8 𝜔 ) 2

𝐼𝑚 [ 𝐺 ( 𝑗 𝜔 ) ] =0 − 0.8
1+ 𝑁 ( 𝐴 ) 2
=0
( 0.8 )
− 𝜔 (8 − 𝜔 )
2
=0
2 2
( 8 − 𝜔 ) + ( 0.8 𝜔 ) 2
⇒ 𝑁 ( 𝐴 )=0.8

⇒ 𝜔=0 ,

𝜔= √ 8
 𝑁 ( 𝐴 )=0.8 Deadzone with ,

[ √ ( )]
Saturation nonlinearity
( )
2
( ) 1 𝜋 −1 1 1 1
𝑁 𝐴= − sin + 1−

[ ( ) √ ( )]
𝜋 2 𝐴 𝐴 𝐴
2
2 −1 1 1 1
( )
𝑁 𝐴 = sin + 1− =0.8
𝜋 𝐴 𝐴 𝐴
⇒ 𝐴=1.455 No solution which means that
no limit cycle
Solve using numerical
techniques

[ ( ) √ ( )]
2
1 𝜋 −1 1 1 1
Limit cycle exists with amplitude ( )
𝑁 𝐴= − sin + 1− < 0.8
𝜋 2 𝐴 𝐴 𝐴
approximately equal to and
period corresponding to
 [ ( ) √ ( )]
2
2 −1 1 1 1
sin + 1− = 0.8
𝜋 𝐴 𝐴 𝐴

√1 2
() ( ) ( ) √ ( )
2
1 −1 1 1 1 1
1− =0.4 𝜋 − sin sin− 1 =0.4 𝜋 − 1−
𝐴 𝐴 𝐴 𝐴 𝐴 𝐴

( )
[ √ ( )]
−1 1
0.4 𝜋 −sin 2
1 𝐴 1 1 1
= =sin 0.4 𝜋 − 1−
√ 𝐴
𝐴
1− ( )
2
1 𝐴 𝐴 𝐴

1
√
( ) 𝐴=
2
1

[ √ ( )]
1− 2
𝐴 1 1
𝐴= sin 0.4 𝜋 − 1−
𝐴 𝐴
0.4 𝜋 −sin ( )
1 −1
𝐴
Example 3 Nonlinear
Linear element
element

𝑧˙ 3
𝑧¨ −𝜖 𝑧˙ + 𝑧 +𝜖 =0
𝑤=𝑓 ( 𝑥 ) 𝐺(𝑠)
𝑟 ( 𝑡 ) =0 𝑥(𝑡) 𝑤(𝑡) y (𝑡)
3
+
1 3 𝑦3 -
𝑤= 𝑧˙ 𝑤=
3 3

𝑧¨ −𝜖 𝑧˙ + 𝑧 +𝜖 𝑤=0

𝑍 (𝑠 ) 𝜖
= 2
𝑊 (𝑠 ) 𝑠 −𝜖 𝑠+ 1

𝑧˙ ≜ 𝑦 ⇒ 𝑠𝑍 ( 𝑠)≜ 𝑌 (𝑠)

𝑌 (𝑠 ) 𝜖𝑠
𝐺 ( 𝑆 )= = 2
𝑊 ( 𝑠) 𝑠 − 𝜖 𝑠+1