Nonlinear Control Systems Analysis
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ScribdTranslationsNonlinear Control Systems Analysis
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ScribdTranslationsSYSTEMS OF
CONTROL II
Analysis of control systems not
linearly through the function
descriptive.
Nonlinear systems
Many relationships between physical quantities are not
linear, but they are approximated by equations
linear.
In nonlinear systems, the system's response
it depends on the magnitude and type of input. For example
they can exhibit completely different behavior
before step entries of different amplitudes.
The superposition principle does not apply (the response
produced by the simultaneous application of two functions
distinct exciters is the sum of the two responses
individuals.
2
Nonlinear phenomena in
control systems
Inherent to the system: they are inevitable and affect in a way
warns the behavior of the system.
Saturation.
Dead zone.
Hysteresis.
Game.
Non-linear static friction.
Non-linear elasticity.
Compressibility of fluids.
Deliberate: intentionally added to improve
their behavior or simplify the construction with
improvements in the economic factor, weight, space,
reliability.
3
Analysis and design procedure
of nonlinear control systems.
There is no general method. (Differential equations not
linear).
If the degree of nonlinearity is small, it can be
use equivalent linearization techniques and solve the
linearized problem (e.g., the descriptive function).
The descriptive function method allows studying the
stability from the perspective of the domain of the
frequency. It does not provide exact information about the
temporal response characteristics.
Solutions are also sought through the use
from computers through simulations. 4
Descriptive functions (D. F.)
Introduction
It is a method of equivalent linearization of elements
nonlinear with a low degree of nonlinearity.
A sinusoidal input is assumed to a non-linear element.
In general, the output is not sinusoidal.
The output is supposed to be periodic with a period equal to the
from the input (upper harmonics present).
In the F. D. it is supposed that only the harmonic component
fundamental is significant.
The sine wave of a nonlinear element is defined
as a complex relationship between the component
fundamental harmonic of the output with respect to the input:
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Descriptive functions (D. F.)
Introduction
Y1
N= φ1
X
N=Descriptivefunction
X=Amplitude of input sine wave
Y=Amplitude
1 of the fundamental harmonic output component
φ=Phase
1 displacement of fundamental harmonic component of output
Therefore, it is necessary to find the harmonic component.
fundamental of the output.
6
Descriptive functions (D. F.)
Introduction ∞
For a sine wave input Y ( t ) = A0 + (∑
A c ons ( n ω t ) + B sni n ( n ω t )
n=1
∞
x(t) = Xsen(ωt) Y ( t ) = A0 + (∑
Y s in n ( n ω t + φ )n
n=1
where
to the non-linear element, the output 1
2π
An = ∫ y(t)cos(nωt)d(ωt)
y(t) can be expressed as a π 0
2π
1
Fourier series Bn=
π ∫ y(t)sin(nωt)d(ωt)
0
An
Yn =An2+Bn2,φn=arctg( )
Bn
If the nonlinear characteristic is antisymmetric Ao = 0 and the
the fundamental harmonic output component is:
Y(t)=Acos(ωt)+B
1 1 1 sin(ωt) = Y sin(ωt
1 + φ) 1
And the descriptive function is given by:
Y A12+B12 A1
N=φ=1 1 tg -17( )
X X B1
Example
Non-linear element of SI-N0
Non-linear element with two positions -
connection disconnection.
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Example
Non-linear element of SI-N0
Where:
12π 2π
π ∫0 π ∫0
Y=y(t)sin(ωt)d(ωt)=y(t)sin(ωt)d(ωt)
1
Replacing y(t)=M
π
2M 4M
Y=
1 ∫
π 0
sin(ωt)d(ωt)=
π
4M
y1 (t)=sin(ωt)
π
Y 4M
N=0° 1=
X πX
9
Non-linear element if-not
with hysteresis
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Non-linearity of threshold
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Nonlinear saturation element
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Analysis of nonlinear systems
through the descriptive function
If the higher harmonics C(jω)NG(jω)
=
generated by the element no R(jω) 1+NG(jω)
linear are attenuated
N is a variable real or complex gain
sufficiently by the
The characteristic equation is:
linear elements, it can be
predict the stability of 1 + NG(jω) = 0
system through analysis 1
G(jω)= −
with the descriptive function. N
13
Analysis of nonlinear systems
through the descriptive function
Where -1/N transforms into the point locations
critics unlike the point -1+j0 considered in the
conventional analysis.
The relative position of the -1/N diagram and the G(j diagram
ω) provides information about stability.
It is assumed that all poles and zeros of G(jω) are
in the left half-plane of 's', including the jωo axis
that the system is of minimum phase.
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Analysis of nonlinear systems
through the descriptive function
The stability criterion consists of that -1/N does not
is surrounded by the diagram of G(jω) (System
stable, there is no limit cycle in state
stationary). Otherwise, it is unstable
(increasing oscillation).
Note: in certain applications it can be accepted
a limit cycle of small magnitude. The ideal is
that does not exist.
15
Accuracy of function analysis
descriptive.
The amplitude and frequency of the limit cycle
indicated by the intersection of the diagrams
-1/N and G(jω) are approximate values.
If -1/N and G(jω) are almost perpendicular, then
accuracy is good.
If all higher harmonics are attenuated, the
accuracy is excellent.
If -1/N and G(jω) are almost tangent or tangent,
the accuracy depends on G(jω) (in terms of the
attenuation of the harmonics. 16
Stability of oscillations
sustained or limit cycles
Stable limit cycle
Unstable limit cycle
(XA,ωA) It cannot be
observe in shape
experimental
17
Exercises
Plot the level curves as a function of
time for:
Inlet valve with a higher flow rate than the outlet
Outlet valve with a higher flow rate than that of
entry
18
19
Exercise B 8.1
Determine amplitude and
cycle frequency
limit
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Task
Deduce the equation
of the function
descriptive N for the
non-linear element of
hysteresis of the figure
21