Non Linear Systems
Let us recall the basic definition of linear
system. Linear systems are those where
principle of superposition is applicable but in
case of highly non linear system we cannot
apply principle of superposition. Analysis of
non linear systems is very difficult because of
non linear behaviour. Also we cannot use pole
zero method in order to analyse non linear
systems because pole zero method is strictly
restricted to linear systems.
In spite of these disadvantages,
there are some advantages of having
non linear systems and they are:
• Non linear systems can perform better
than the linear systems.
• Non linear systems are less costly than
the linear systems.
• They are usually small and compact in
size as compared to linear system.
In practice, all physical systems
have some kind of non linearity.
Sometimes it may even be desirable to
introduce a non linearity deliberately in
order to improve the performance of a
system and making its operation safer. As
it result, the non linear system is more
economical than linear system.
Nonlinear systems exhibit many
phenomena that are not be seen in
linear systems.
Frequency Amplitude Dependence
• Consider the free oscillation of the mechanical systems
shown in figure.
• The differential equation of the system is Nonlinear
Spring
′ 3
¨
𝑚 𝑥+𝑏 𝑥˙ +𝑘𝑥+ 𝑘 𝑥 =0 M
x
B
• The parameters , , and are positive constants, while may be
either positive or negative.
• If is positive spring is called a hard spring and if is negative it
is called a soft spring.
Frequency Amplitude Dependence
• The solution ofrepresents a damped ′
𝑘 >0
oscillation if the system is subjected
to non-zero initial conditions.
• When the frequency remains
unchanged as the amplitude of free
oscillation decreases. 𝑘′ =0
• When the frequency of oscillation
either increases or decreases
depending on whether or .
′
𝑘 <0
Frequency Amplitude Dependence
• Frequency amplitude dependence is one of the most
fundamental characteristics of the nonlinear systems.
Amplitude
Frequency
Multivalued Responses and Jump Resonances
• The differential equation of spring mass damper system
with sinusoidal forcing function exhibits multivalued
response and jump resonance.
′ 3
¨
𝑚 𝑥+𝑏 𝑥˙ +𝑘𝑥+ 𝑘 𝑥 =𝑃 cos (𝜔 𝑡)
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Sub-Harmonic & Super-Harmonic Oscillations
• The differential equation of spring mass damper system
also exhibits periodic motions such as sub-harmonic and
super-harmonic oscillations.
′ 3
¨
𝑚 𝑥+𝑏 𝑥˙ +𝑘𝑥+ 𝑘 𝑥 =𝑃 cos (𝜔 𝑡)
Self-excited Oscillations or limit cycles
• Another phenomenon that is observed in certain nonlinear systems
• Consider a system described by the following equation (where m, b
is a self-excited oscillation or limit cycle.
and k are positive quantities). 2
𝑚 𝑥¨ −𝑏 (1− 𝑥 ) 𝑥˙ +𝑘𝑥=0
• It is nonlinear in the damping term, that is, for small values of the
damping will be negative and will actually put energy into the
system, while for large values of it is positive and removes energy
from the system.
• Thus it can be expected that such a system may exhibit a sustained
oscillation.
• Since it is not a forced system, this oscillation is called self excited
oscillation or a limit cycle.
COMMON NONLINEARITIES IN CONTROL SYSTEMS
• Consider the typical block diagram shown in Figure. It is
composed of four parts: a plant to be controlled, sensors for
measurement, actuators for control action, and a control law,
usually implemented on a computer.
r(t) + y(t)
Controller Actuators Plant
-
Sensors
• Nonlinearities may occur in any part of the system,
thus make it a nonlinear control system.
• Many different types of nonlinearities may be found in
practical control systems, and they may be divided
into
Inherent Nonlinearities: The non-linear behavior
that is already present in the system. eg. Saturation
Intentional Nonlinearities: he non-linear
elements that are added into a system. eg. Relay
Inherent Nonlinearities
• Inherent nonlinearities are unavoidable in
control systems.
• Example of such nonlinearities are
– Saturation
– Dead Zone
– Hysteresis
– Backlash
– Friction (Static, Coulomb, etc.)
– Nonlinear Spring
– Compressibility of Fluid
Intentional Nonlinearities
• Some nonlinear elements are intentionally
introduced into a system to improve system
performance.
• Example of such nonlinearities are
– Relay
– On off control
– Solid state Switches
Approaches to the analysis and Design of
nonlinear Control Systems
• There is no general method for dealing with all
nonlinear systems.
• Analysis and design methods for nonlinear
control systems include
– Describing function method
– Liapunov Method
– Phase Plane Analysis
– Several others
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Describing function method is used
for finding out the stability of a non linear
system. Of all the analytical methods
developed over the years for non linear
control systems, this method is generally
agreed upon as being the most practically
useful. This method is basically an
approximate extension of frequency
response methods including Nyquist
stability criterion to non linear system.
The describing function of a non linear system
is defined as the complex ratio of amplitudes
and phase angle between fundamental
harmonic components of output to input
sinusoid. Mathematically,
Where, N = describing function,
X = amplitude of input sinusoid,
Y= amplitude of fundamental harmonic
component of output,
φ1 = phase shift of the fundamental harmonic
component of output.
Let us consider the below block diagram
of a non linear system, where G1(s) and G2(s)
represent the linear element and N represent
the non linear element.
Let us assume that input x to the non linear
element is sinusoidal, i.e,
For this input, the output y of the non linear
element will be a non sinusoidal periodic
function that may be expressed in terms of
Fourier series as
Most of non linearties are odd symmetrical
or odd half wave symmetrical; the mean
value Y0 for all such case is zero and
therefore output will be,
Most control systems are low pass filters,
with the result that the higher harmonics
are very much attenuated compared with
the fundamental harmonic component.
Hence y1 need only be considered.
We can write y1(t) in the form ,
Where by using phasor,
The coefficient A1 and B1 of the Fourier series
are given by-
From definition of describing function we have,
Describing Function for Saturation Non Linearity
The characteristic curve for saturation is shown:
Let us take input function as
Now from the curve we can define the output
as :
For skew symmetric non linearties,
The phase angle for the describing function can
be calculated as
Thus the describing function for saturation is
Describing Function for Ideal Relay
The characteristic curve for ideal relay is shown:
Let us take input function as
Now from the curve we can define the output as
Describing Function for Real Relay
(Relay with Dead Zone)
The characteristic curve for real relay as shown:
Let us take input function as
Now from the curve we can define the output as
On Off non linearity with Differential Gap
Describing Function Analysis
Characteristic equation is
Stable
Unstable