LINEAR CONTROL

SYSTEMS
Ali Karimpour
Associate Professor
Ferdowsi University of Mashhad
 lecture 5

Lecture 5
Topics to be covered include:
 Nonlinear systems
 Linearization of nonlinear systems
 Transfer function representation

 Property

Poles and zeros and their physical meaning

SISO and MIMO

Open loop and closed loop system

Effect of feedback

Characteristic equation for SISO system

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 lecture 5

Nonlinear systems. ‫سیستمهای غیر خطی‬

Although almost every real system includes

nonlinear features, many systems can be reasonably
described, at least within certain operating ranges, by
linear models.

،‫گرچه تقریبا تمام سیستمهای واقعی دارای رفتار غیر خطی هستند‬
‫بسیاری از سیستمها را می توان حداقل در یک رنج کاری خاص‬
.‫خطی نمود‬

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Nonlinear systems. ‫سیستمهای غیر خطی‬

Say that {xQ(t), uQ(t), yQ(t)} is a given set of trajectories that

satisfy the above equations, so we have

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Linearized system ‫سیستم خطی شده‬

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Example 1
Consider a continuous time system with true model
given by

Assume that the input u(t) fluctuates around u = 2.

Find an operating point with uQ = 2 and a linearized
model around it.
22 16
uQ  2  0   xQ   xQ 
3 9

Operating point: 6
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Example 1 (Continue)
Operating point:

f 1 3 f 2 4
A | x  xQ ,u uQ    B | x  xQ ,u uQ  uQ 
x 2 xQ 8 u 3 3

 3 4
x   x  u
8 3 7
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Simulation ‫شبیه سازی‬

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Example 2 (Pendulum)
Find the linear model around equilibrium point.
d 2
J 2  ul  mgl sin  , J  ml 2
dt
θ l d 2 u g
  sin  x1   , x 2  
u dt 2 ml l
x 1  x2 x1Q  x2Q  uQ  0
mg u g
x 2   sin x1 is operating point
ml l
 0 1 0 
x1  
  x1    1 u
x    g  
 2  0 x2   
 l   ml 
Remark: There is also another equilibrium point at x2=u=0, x1=π 9
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 lecture 5

Example 3 Suppose electromagnetic force is i2/y and

find linearzed model around y=y0

d2y i 2 (t )
M 2  Mg 
dt y
x1  y , x2  y , x3  i
di
e(t )  R1i  L
y dt
M
2
1 x3 R1 e(t )
x 1  x2 x 2  g  x 3   x3 
M x1 L L

Equilibrium point:

x1Q  y0 x2 Q  0 x3Q  i Q  Mgy0 eQ  R1 Mgy0

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 lecture 5

Example 3 Suppose electromagnetic force is i2/y and

find linearzed model around y=y0

2
1 x3 R1 e(t )
x 1  x2 x 2  g  x 3   x3 
M x1 L L
y   
Equilibrium point: x1Q , x2Q , x3Q , eQ  y0 , 0 , Mgy0 , R1 Mgy0 
M

x 1  x2  
 0 1 0   
g g x 1    x1   0
x2  x1  2
 x3 x    g g    
y0 My0  2  y 0 2  x2    0e(t )
My0
x 3   0  x3   1 
R1 e(t )  R1   11
x 3   x3  0 0   L 
L L  L  Ali Karimpour Feb 2013
 lecture 5
Example 4 Consider the following nonlinear system. Suppose u(t)=0
and initial condition is x10=x20=1. Find the linearized system around
response of system.
1
x 1 (t ) 
x2 (t ) 2
x 2 (t )  u (t ) x1 (t )
x 2 (t )  0.x1 (t )  0  x2 (t )  a  1
x 1 (t )  1  x1 (t )  t  b  t  1

x 1  0 2 x1   0 
x   0     u (t )
 2  0  x2  1  t  12
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 lecture 5

Linear model for time delay

 s 1 1 1
e  s 
e  2  3
2 3

2 2
1   s  s  s  ........ 1 s  s
2 6 2


 s 
e 2 1 s
 s 2
e  


Pade approximation
e 2
s
1 s
2
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 lecture 5

Example 5(Inverted pendulum)

‫ پاندول معکوس‬5 ‫مثال‬

Figure 3.5: Inverted pendulum

In Figure 3.5, we have used the following notation:
y(t) - distance from some reference point
(t) - angle of pendulum
M - mass of cart
m - mass of pendulum (assumed concentrated at tip)
l - length of pendulum
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f(t) - forces applied to pendulum Ali Karimpour Feb 2013
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Example of an Inverted Pendulum

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Nonlinear model

Application of Newtonian physics to this system leads to the following model:

where m = (M/m)

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Linear model

This is a linear state space model in which A, B and C are:

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TF model properties ‫خواص مدل تابع انتقال‬

1- It is available just for linear time invariant systems. (LTI)

2- It is derived by zero initial condition.

3- It just shows the relation between input and output so it
may lose some information.

4- It is just dependent on the structure of system and it is

independent to the input value and type.

5- It can be used to show delay systems but SS can not.

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 lecture 5

Poles of Transfer function ‫قطب تابع انتقال‬

n( s )
Transfer function G(s) 
d ( s)

Pole: s=p is a value of s that the absolute value of TF is

infinite.

How to find it? Let d(s)=0 and find the roots

Why is it important? It shows the behavior of the system.

Why?????
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 lecture 5

Poles and their physical meaning

Example 6
‫قطبها و خواص فیریکی آنها‬
s6
Transfer function G( s) 
s 2  5s  6
S2+5s+6=0  p1= -2, p2=-3 roots([1 5 6])

s6 1 2 1
Step Response of c( s)    
s ( s  5s  6) s s  2 s  3
2

c(t )  1u (t )  2e 2t u (t )  1e 3t u (t )

p1= -2, p2=-3 20

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 lecture 5

Example 6 (Continue)

s6
Transfer function G( s) 
s 2  5s  6
Step Response
1

0.9

0.8

0.7

0.6
Amplitude

0.5

0.4

0.3

0.2

0.1

0
0 0.5 1 1.5 2 2.5 3
Time (sec)

step([1 6],[1 5 6]) 21

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 lecture 5

Zeros of Transfer function ‫صفر تابع انتقال‬

n( s )
Transfer function G(s) 
d ( s)

Zero: s=z is a value of s that the absolute value of TF is zero.

Who to find it? Let n(s)=0 and find the roots

Why is it important? It also shows the behavior of system.

Why?????
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 lecture 5

Example 7 Zeros and their physical meaning

‫صفرها و خواص فیر•یکی آنها‬

Transfer functions G1 ( s) 
s6
s 2  5s  6
G2 ( s) 
10s  6
s 2  5s  6

z1= -6 z2=-0.6

s6 1 2
c1 ( s)    
1
s ( s  5s  6) s s  2 s  3
2
c1 (t )  1  2e 2t
1e  3t
u (t ) 

10s  6 8
c2 ( s )  
1

7

s ( s  5s  6) s s  2 s  3
2
c 2 (t )  1  7 e  2t
 8e  3t
 u (t )

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Zeros and their physical meaning

Example 7 ‫صفرها و خواص فیر•یکی آنها‬

Transfer function G1 ( s ) 
s6
s 2  5s  6
G2 ( s ) 
10s  6
s 2  5s  6

step([1 6],[1 5 6]) ;hold on;step([10 6],[1 5 6]) 24

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 lecture 5

Example 8 Zeros and its physical meaning

‫صفرها و خواص فیر•یکی آنها‬

y  5 y  6 y  u  u

Transfer function of the system is:

y( s) s 1
 2 It has a zero at z=-1
u ( s ) s  5s  6

What does it mean? u=e -1t

and suitable y0 and y’0
leads to y(t)=0 25
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 lecture 5

Open loop and closed loop systems

‫سیستمهای حلقه باز و حلقه بسته‬

Open
loop Controller

Closed
Controller

loop
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 When is the open loop representation applicable? lecture 5

‫در چه شرایطی کنترل حلقه باز مناسب است؟‬

 The model on which the design of the controller

has been based is a very good representation of the
plant,

 The model must be stable, and

 Disturbances and initial conditions are negligible.

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SISO and MIMO
‫سیستم تک ورودی تک خروجی و چند ورودی چند‬
lecture 5

‫خروجی‬

u1 System y1

SISO

u1 y1
u2 System y2
u3 y3

MIMO
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Sensitivity ‫حساسیت‬

Sensitivity is defined as:

M / M M G
S 
G / G G M
M is the system + controller transfer function
G is the system transfer function
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Sensitivity ‫حساسیت‬

r
K(s) G(s)
c M  G ( s) K (s)
Open loop system M G G ( s)
S  K (s) 1
G M K ( s)G ( s )

K ( s )G ( s )
r + c M (s) 
K(s) G(s) 1  K ( s )G ( s )
-

M G 1
Closed loop system S 
G M 1  K ( s )G ( s )
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Feedback ‫ویژگیهای فیدبک‬

properties
Feedback can effect:

a) system gain

b) system stability

c) system sensitivity

d) noise and disturbance

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Exercises
s2  4
5-1 Find the poles and zeros of following system. G(s)  3
S  3s 2  3s  3

5-2 Is it possible to apply a nonzero input to the following system

for t>0, but the output be zero for t>0? Show it. y  5 y  6 y  2u  u

5-3 Find the step response of following system.

s2  4
G( s)  3
s  3s 2  3s  3

5-4 Find the step response of following system for a=1,3,6 and 9.
as  2
G ( s) 
s 2  2s  2
5-5 Find the linear model of system in example 2 around 32
x2=u=0, x1=π Ali Karimpour Feb 2013