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Lec Eight

The document discusses nonlinearities in control engineering, focusing on linear systems characterized by superposition and homogeneity. It outlines the process of linearization for nonlinear systems, including recognizing nonlinear components, linearizing differential equations, and forming transfer functions. Additionally, it introduces state-space representation, defining state variables and state vectors, and explaining the state-space equations for modeling dynamic systems.

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10 views23 pages

Lec Eight

The document discusses nonlinearities in control engineering, focusing on linear systems characterized by superposition and homogeneity. It outlines the process of linearization for nonlinear systems, including recognizing nonlinear components, linearizing differential equations, and forming transfer functions. Additionally, it introduces state-space representation, defining state variables and state vectors, and explaining the state-space equations for modeling dynamic systems.

Uploaded by

muzamilsiddique2470
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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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, [x0;
f(x0)]
• 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
a
excursions of the 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 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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