MEEN 364

Lecture 12

Parasuram
August 28, 2001

HANDOUT E.12 - EXAMPLES ON LINEARIZATION

Example 1
Consider the system shown below.

m
The governing differential equations of motion for the above system is given by
..

m r + kr kl 0 mr
..

mg cos = 0

. .

mr + 2m r + mg sin = 0.

(1)
(2)

where, l0 is the initial length of the spring and k is the stiffness constant of the spring.
Note that the above differential equations are non-linear in nature. First, to find the
equilibrium point, equate all the derivative terms to zero. Therefore equation (2) reduces
to
mg sin = 0,
sin = 0,
= n .
There 0 = 0 is one equilibrium point for the above system.
Following the same procedure for equation (1), we get
kr kl0 mg cos = 0,
kr kl0 mg = 0,
mg + kl 0
r=
= r0 .
k

(3)

Therefore r = r0 is the equilibrium value for the variable r.

MEEN 364
Lecture 12

Parasuram
August 28, 2001

Expanding each term in equation (1) by Taylors series about the equilibrium point and
neglecting the higher order terms, we have
..

m r + kr kl 0 mr

mg cos = 0,

..
.

m r + kr kl0 mr

(mg cos ) r = r0
= 0

.
.
.

2
2
( 0)
= (mr ) r = r (r r0 ) . (mr )
0
r =r0 r
r = r0
=0

=0

(mg cos )
( 0 ) = 0,
r = r0

=0

..

m r + kr kl0 mg = 0.
..

m (r r0 )+ k (r r0 ) = 0.

(4)

Following the same procedure for equation (2), we get

..

. .

mr + 2m r + mg sin = 0,
..
..
..
..

mr
(r r0 ) + .. (mr )
( 0)
+ (mr )
r = r0

r ==r0 r
r = r0
=0

. .

+ ( 2m r )

r = r0
= 0

=0

(mg sin ) r = r0 +
= 0

..

. .

( 2m r )

r = r0
=0

(r 0) +

. .

(2m r )

( 0)

r = r0
=0

(mg sin )
( 0 ) = 0,
r = r0

=0

mr0 + mg = 0.

(5)

Equations (4) and (5) represents the linearized differential equation of motion for the
above system.

MEEN 364
Lecture 12

Parasuram
August 28, 2001

Example 2
Consider the electromagnetic suspension system shown in the figure. An electromagnet is
located at the upper part of the experimental system. Utilizing the electromagnetic force f,
we desire to suspend the iron ball. Note that this simple electromagnetic suspension
system is essentially unworkable. Hence feedback control is indispensable. As a gap
sensor, a standard induction probe of eddy current type is placed below the ball.
The electromagnet has an inductance L and a resistance R. Use the Taylor series
approximation for the electromagnetic force. The current is i1 = (I0 + i), where I0 is the
operating point and i is the variable. The mass of the ball is m. The gap xg = (X0 + x),
where X0 is the operating point and x is the variable. The electromagnetic force is given
2

i
by f = k 1 , where k is a constant. Determine the Linearized governing differential
x
g
equations of motion.
R
L
i1
+
v
Electromagnet
Force f
Iron Ball

x
mg
Gap sensor
From the figure, writing the governing differential equation for the electric circuit, we get
L

di1
+ Ri1 = v.
dt

(6)

For the iron ball, writing the Newtons second law of motion, we have
..

m x = f mg ,

MEEN 364
Lecture 12

Parasuram
August 28, 2001
2

i
m x = k 1
x
g

mg.

..

(7)

Equations (6) and (7) represent the governing differential equations of motion for the
electromagnetic suspension system. Note that equation (7) is non-linear in nature. In
order to linearize the equations, the operating point has to be calculated.
Equating all the derivative terms in equation (6) and (7) to zero, we get
RI 0 = v,
2

I
k 0 = mg ,
X0
where I0 and X0 are the operating points.
Therefore equation (6) reduces to
di
L + R ( I 0 + i ) = v,
dt
di
L + Ri = 0.
dt

(8)

Using the Taylor series expansion for equation (7), we get

2
I0
i1
+
m x = k
k x
X

i
1
0
g
..

..

mx =
..

mx =

2ki1 1
xg xg
2kI 0

(X 0 )

i1 = I 0
xg = X 0

(i1 I 0 ) +

x g
ix1 ==I 0X 0
g

(i1 I 0 ) +

i
k 1
x
g

( x g X 0 ) mg ,

ix1 ==I 0X 0
g

2ki1
i
1 2
( x g X 0 ),
x g ( x g ) i1 = I 0
xg = X 0

2k ( I 0 )
x.
( X 0 )3

(9)

Equations (8) and (9) represent the linearized differential equation for the system defined.

MEEN 364
Lecture 12

Parasuram
August 28, 2001

Assignment
Derive the equations of motion for the inverter pendulum problem and linearize the
equations about the equilibrium point. ( Do not assume small angle approximation.)
m
L
M