KTUQBANK.
COM
NON-LINEAR SYSTEMS
(Module 6)
Hari Kumar R
Assistant Professor
Department of Electrical Engineering
College of Engineering Trivandrum
[Link]
Agenda
2
Introduction
Properties of nonlinear systems
Types of nonlinear systems
Hari Kumar R, Assistant Professor, Department of EE, CET
[Link]
Introduction
3
Practical systems are sufficiently non-linear
Linearized for mathematical simplicity
Non-linear system response depends on the magnitude and type of input
Non-linear system does not obey principle of superposition
Hari Kumar R, Assistant Professor, Department of EE, CET
[Link]
Introduction
4
Laplace transform and Z- transform cannot be applied
Stability depends on input and also the initial state
Exhibits limit cycles
Have jump resonance in the frequency response
Output of non-linear systems will have harmonics and sub-harmonic
oscillations when excited by sinusoidal inputs
Exhibits frequency entrainment and asynchronous quenching
Hari Kumar R, Assistant Professor, Department of EE, CET
[Link]
Behavior of Non-linear Systems
5
Frequency Amplitude Dependence
Multi-valued Responses
Jump resonance
Sub-harmonic Oscillations
Self excited oscillations or limit cycles
Frequency entrainment
Asynchronous Quenching
Hari Kumar R, Assistant Professor, Department of EE, CET
[Link]
Frequency Amplitude Dependence
6
Nonlinear
The differential equation describing the dynamics of Spring
the system is
mx bx kx k ' x 3 0 M
x B
Hari Kumar R, Assistant Professor, Department of EE, CET
[Link]
Frequency Amplitude Dependence
7
k' 0
The solution of the differential equation
represents a damped oscillation when the
k' 0
system is subjected to non-zero initial
condition.
k' 0
Hari Kumar R, Assistant Professor, Department of EE, CET
[Link]
Multi-valued Responses and Jump Resonance
8
The response of the spring mass damper system with sinusoidal forcing
function exhibits multi-valued response and jump resonance.
mx bx kx k ' x 3 P cos t
Hari Kumar R, Assistant Professor, Department of EE, CET
[Link]
Sub-harmonic Oscillations
9
When a non-linear system is excited with sinusoidal function the response
will have steady state oscillations whose frequency is an integral sub-
multiple of the forcing frequency.
Hari Kumar R, Assistant Professor, Department of EE, CET
[Link]
Self Excited Oscillations or Limit Cycles
10
The response of the non-linear system may exhibit oscillations with fixed
amplitude and frequency.
Consider the system described by:
mx b(1 x 2 ) x kx 0
The damping will be positive or negative depending the value of ‘x’
Such a system may exhibit sustained oscillations called ‘self excited
oscillations or Limit cycles’
The amplitude of the limit cycle depends on the initial condition
Hari Kumar R, Assistant Professor, Department of EE, CET
[Link]
Frequency entrainment
11
If a periodic force of frequency ‘w’ is applied to a system capable of
exhibiting limit cycle of frequency ‘w0’, the phenomenon of beats is
observed.
Hari Kumar R, Assistant Professor, Department of EE, CET
[Link]
Asynchronous Quenching
12
In a non-linear system that exhibits a limit cycle of frequency ‘w0’, it is
possible to quench the limit cycle oscillations by forcing the system at a
frequency ‘w1’, where ‘w1’ and ‘w0’ are not related to each other
Hari Kumar R, Assistant Professor, Department of EE, CET
[Link]
Types of Non-Linearities
13
r(t) + y(t)
Controller Actuators Plant
-
Sensors
Inherent Nonlinearities: The non-linear behavior that is already present in
the system. eg. Saturation, Dead zone, Hysteresis, Backlash, Static friction,
Coulomb friction and other non-linear friction
Intentional Nonlinearities: The non-linear elements that are added into a
system. eg. Relay
Hari Kumar R, Assistant Professor, Department of EE, CET
[Link]
Inherent Nonlinearities
14
Saturation
Dead zone
Hysteresis
Backlash
Static friction, Coulomb friction and other non-linear friction
Nonlinear Spring
Compressibility of Fluid
Hari Kumar R, Assistant Professor, Department of EE, CET
[Link]
Saturation
15
Most Common type of nonlinearity
Due to limitations of physical
capabilities of their components
Hari Kumar R, Assistant Professor, Department of EE, CET
[Link]
Dead Zone
16
Region in which the output is zero for
a given input
Hari Kumar R, Assistant Professor, Department of EE, CET
[Link]
Non-linear Friction
17
Hari Kumar R, Assistant Professor, Department of EE, CET
[Link]
Hysteresis
18
Hari Kumar R, Assistant Professor, Department of EE, CET
[Link]
Backlash
19
Hari Kumar R, Assistant Professor, Department of EE, CET