PHASE PLANE ANALYSIS

PHASE PLANE ANALYSIS- CONCEPT

• Techniques for studying the behavior of nonlinear systems

• The response characteristics (relative speed of response) for

unforced systems are dependent on the initial conditions.

• Phase plane method is applied to autonomous 2nd order system

described as follows:

(1)
(2)
PHASE PLANE ANALYSIS- CONCEPT

• A phase-plane plot for a two-state variable system consists of curves of

one state variable versus the other state variable (x1(t) Vs. x2(t)), where
each curve is based on a different initial condition, is a mapping from R
to R2

• The x1 - x2 plane is called State plane or Phase plane

• The locus in the x1 - x2 plane of the solution x(t) for all t =0 is a curve
named trajectory or orbit that passes through the point x0

• The family of phase plane trajectories corresponding to various initial

conditions is called Phase portrait of the system.
PHASE-PLANE BEHAVIOR OF LINEAR
SYSTEMS
• Stable equilibrium point(node)
Consider the system

 The solutions converge to (0,0)

for all initial conditions.
 The point (0,0) is a stable
equilibrium point for the system
=> stable node.
PHASE-PLANE BEHAVIOR OF LINEAR
SYSTEMS
• An Unstable Equilibrium Point (Saddle)
Consider the system

 If the initial condition for x2 was 0, then the

trajectory reached the origin. Otherwise, the
solution will always leave the origin.
 The point (0,0) is an unstable equilibrium
point for the system => saddle point
 The x1axis represents a stable subspace and
the x2axis represents an unstable subspace
PHASE-PLANE BEHAVIOR OF LINEAR
SYSTEMS
• Unstable Focus (Spiral Source)
Consider the system

Eigenvalues=1±2i
(unstable system because
the real part is positive)
PHASE-PLANE BEHAVIOR OF LINEAR
SYSTEMS
• Center
Consider the system

Eigenvalues = ±1.7321i

 Since the real part of the eigen values is

zero, there is a periodic solution,
resulting a phase-plane plot where the
equilibrium point is a center
PHASE-PLANE BEHAVIOR OF LINEAR
SYSTEMS
 NONLINEAR SYSTEMS

• Nonlinear systems will often have the same general phase plane behavior
as the model linearized about the equilibrium (steady-state) point, when the
system is close to that particular equilibrium point.
• Nonlinear systems often have multiple steady-state solutions.
• Phase-plane analysis of nonlinear systems provides an understanding of
which steady-state solution that a particular set of initial conditions will
converge to.
• The local behavior(close to one of the steady-state solutions) can be
understood from a linear phase-plane analysis of the particular steady-state
solution (equilibrium point)
 NONLINEAR SYSTEMS
• Consider the system
CONSTRUCTION OF PHASE PORTRAITS
Vector Field Diagram: Consider (1) and (2)

• To each vector , a corresponding vector

known as a vector field is associated.

 Example: If

For x = (1,1), next point is (1,1) + (2,1) = (3,2)

 CONSTRUCTION OF PHASE
PORTRAITS

• By repeating this for sufficient point in the state space, a vector field
diagram is obtained.

• Noting that vector field at a point is tangent to trajectory

through that point.

• ∴ starting from x0 and by using the vector field with sufficient

points, the trajectory can be constructed.
CONSTRUCTION OF PHASE PORTRAITS

Isocline method

• The term isocline derives from the Greek words for ”same slope.”
Consider again Eqs (1) and (2), the slope of the trajectory at point x:

• An isocline with slope α is defined as

• ∴ all the points on the curve have the same

tangent slope α.
CONSTRUCTION OF PHASE PORTRAITS

• Note that the ”time” is eliminated here => The responses x1(t) and

x2(t) cannot be obtained directly.

• Only qualitative behavior can be concluded, such as stable or

oscillatory response.

• The algorithm of constructing the phase portrait by isocline method:

1. Plot the curve S(x) = α in state-space (phase plane)

 CONSTRUCTION OF PHASE
PORTRAITS
2. Draw small line with slope α. Note that the direction of the line
depends on the sign of f1 and f2 at that point.

3. Repeat the process for sufficient number of α s.t. the phase plane is
full of isoclines.