Dinamika Sistem Nonlinear

Trihastuti Agustinah

Bidang Studi Teknik Sistem Pengaturan Jurusan Teknik Elektro - FTI Institut Teknologi Sepuluh Nopember

Linear vs. Nonlinear

LINEAR

NONLINEAR

many work in analysis and control of linear system most model available are linear

most real systems are nonlinear dynamic of linear system are not rich to describe many observed phenomena

Linear System
Linear time-invariant (LTI) systems: LTI properties:
unique equilibrium point for A nonsingular the equilibrium point is stable (all initial conditions) if eig(A) have negative real part general solution can be solved analytically An external input u(t):
x = Ax + Bu

x = Ax

The properties of system response:

1) 2) 3) Superposition principle Asymptotic stability Sinusoidal input sinusoidal output (the same frequency)

Why Nonlinear Control?

1

Improvement of existing control systems

Linear control method small range operation assumption

Analysis of hard nonlinearities

Coulomb friction, saturation, dead-zone, hysteresis Linear approximation is not allowed

Dealing with model uncertainties

Parameter variations may exhibit performance degradation (even) instability

Design simplicity: simpler design + more intuitive

Nonlinear System Behavior (1) Nonlinearities:

Inherent (natural): systems hardware and motion
Coulomb friction, saturation, hysteresis

Intentional (artificial): introduced by the designer

bang-bang control

Nonlinearities: (mathematical properties)

continuous discontinuous

Nonlinear System Behavior (2) Example:

The motion of underwater vehicle
v+ | v | v = u

where v is vehicle velocity u is the control input (the thrust provided by a propeller) The nonlinearity: |v|v

square-law

Nonlinear System Behavior (3)

Step inputs of u:
u = 1 : 0+ | v | v = 1

v =1

u = 10 : 0 + | v | v = 10
v = 10 = 3.2

Nonlinear System Behaviors (1) Multiple equilibrium points:

more than one equilibrium point Example:
linear Equilibrium point? a point where the system can stay forever without moving

x = x + x2
nonlinear

Nonlinear System Behaviors (2) Limit cycles:

oscillations (fixed amplitude and period) without external excitation Van der Pol oscillator: mass-spring-damper system
m + 2c( x 2 1) x + kx = 0 x

Nonlinear System Behaviors (3) Bifurcation:

quantitative change of parameter lead to qualitative change of system properties Duffing equation: mass-spring-damper system with hardening spring
+ cx + x + x 3 = 0 x

Equilibrium points: function of 3 points of xe: 0, 0.5,-0.5 Pitchfork bifurcation

Nonlinear System Behaviors (3) Bifurcation:

emerging of limit cycles as parameters change Hopf bifurcation

Nonlinear System Behaviors (4) Chaos:

the system output is sensitive to initial conditions unpredictability of the output
+ 0.05 x + x 3 = 7.5 cos t x
x(0)=3; x(0)=4 x(0)=3.01 x(0)=4.01

Nonlinear System Behaviors (4)

Random motion

vs.

Chaos motion

The model (input) contains uncertainty

The model is deterministic, little uncertainty

Nonlinear System Behaviors (5)

Other behaviors:
Subharmonic generation Frequency-amplitude dependence of free vibrations Jump-resonance
subharmonic?

a wave with a frequency that is a fraction of a fundamental frequency

Linear System
Example:
First order system

x = x dx x = dt ln x = t + c x = x0e t
Unique equilibrium point at x=0

Nonlinear System
Example:
First order system

x = x

x + x 2 = dt
x=

dx

1 x0 + x0e t

x0e t

Two equilibrium points at x=0 and x=-1 The stability of the system may depends on the initial condition

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