2.

NON-LINEAR SYSTEMS AND LINEARIZATION Theory Contents:

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2.1. Example of non-linear systems. State Space representation of non-linear systems 2.2. Linearization 2.3. Examples Objectives: I Learn how to deal with non-linear systems by using small signal linearization.

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2.1 EXAMPLE OF NON-LINEAR SYSTEMS DC Machine:

Va

r
Tm B TL
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2.1 EXAMPLE OF NON-LINEAR SYSTEMS

The following equations represent a separately excited DC machine, considering non-linear field inductance.

These equations present non-linear terms, and therefore cannot be expressed as:

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2.1 EXAMPLE OF NON-LINEAR SYSTEMS

We can however, express the above equations in a more general form:

Basically, we state that the derivative of each state depends on a function of the input and the actual state variables. If the functions f1, f2, etc are non-linear, then we will have a set of n first order non-linear differential equations. These equations are not easy to deal with.

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2.2 LINEARIZATION

10 9

y0= f(x0)

(x0,y0)

y= f(x)

8 7 6 5 4 3 2 1 0

0 .2

0 .4

0 .6

x0

0 .8

1 .2

1 .4

1 .6

1 .8

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2.2 LINEARIZATION

10 9

y0= f(x0)

(x0,y0)

y= f(x)

8 7 6 5 4 3 2 1 0

0 .2

0 .4

0 .6

x0

0 .8

1 .2

1 .4

1 .6

1 .8

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2.2 LINEARIZATION

8 .8 10 9 8 .6 8 7 8 .4 6

y=y0+ m(x-x0) y= f(x) (x0,y0)

y0

8 .2 5 4 8 3 2 7 .8 1 7 .6 0 0 .4 0 .2

y= mx y= mx

0 .4 0 .4 5

00 .6 .5

0 .5 5 .8

10 .6

1 .20 .6 5 1 .4

0 .7 1 .6

0 .7 5 1 .8

02 .8

x0
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2.2 LINEARIZATION Taylor Series Expansion:

1 d2 d y = f ( x0 ) + f ( x ) ( x x0 ) + f ( x ) ( x x0 ) 2 + L 2! dx 2 dx x= x x= x
0 0

y f ( x0 ) +

d f ( x ) ( x x0 ) dx x= x
0

d y y0 = f ( x ) ( x x0 ) y = k1x dx x= x
0

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2.2 LINEARIZATION

LIMITATIONS TO THE PROPOSED METHOD LIMITATIONS TO THE PROPOSED METHOD Approximated linearisation Approximated linearisation Only valid for small deviations around x0,,y0. Only valid for small deviations around x0 y0. Only valid if f((x) is not too non-linear around Only valid if f x) is not too non-linear around x0,,y0. x0 y0.
1 d n) y= f ( x ) ( x x0 ) n n! dx n ) n =2 x= x

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2.2 LINEARIZATION For functions of more than one variable:

y = f ( x1 , x2 ,K, xn ) y = k1x1 + k 2 x2 + L + k n xn

ki = f ( x1 , x2 ,K, xn ) xi x= x

0
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2.2 LINEARIZATION
If we consider small variations around an equilibrium point x0, we can approximate the non-linear functions with their expansions in Taylor series:

Let us take a closer look at each term:

The first term is just a point in the state space. The second (and following) terms are just a constant multiplied by the small displacement around the equilibrium point ( 1) (x Higher order terms can be neglected for small displacements.
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2.2 LINEARIZATION
The equilibrium point should be obtained from the NON-LINEAR state space. In order to do that we assume that the time derivatives of the state variables are zero in steady state.

Once we know the steady state values of both state variables and inputs, we can express the LINEARISED SYSTEM as:

All the values in the matrices are just numbers. Therefore, we can express the above equation as:
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2.3 EXAMPLE
EXAMPLE: Consider the Non-Linear system given by the following equations, and calculate the equivalent linear system.

By applying the previous method, we have:

And expressed as matrices:

Note the above matrices consist only of numbers if the steady state point is known.

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2.3 EXAMPLE
Now, calculate the linearised state space equations for: First of all, we calculate the steady state values, x10,x20, by solving the following algebraic equation:

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2.3 EXAMPLE
Once we know that x10=x20=0, we substitute this value in the linearised equation:

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2.3 EXAMPLE
The same can be done with a new steady state operating point, given by:

1- Obtain x0 by equating the non-linear state space equations to zero:

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2.3 EXAMPLE
2- Substitute the values of x10=1, x20=1, u10=0, u20=0 in the linearised equation:

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2.3 EXAMPLES
Obtain the Linearised State Space Equations of the following system:

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2.3 EXAMPLES
Obtain the Linearised State Space Equations of the following system:

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