LECTURE#11.

GOLDFARB CRITERION
The describing function method for investigation of the periodic solution existence
Author: Goldfarb L.S.
Initial condition: Let the open-loop nonlinear system is given by the block-diagram:
Let mathematical model of nonlinear and linear parts:
( ) z F x
;
( ) x p W
L

(1,2)
The describing fnction
( )
( )
( ) z a s W z s
a !
a ! x
"

, ,
1
]
1

+
! (")
Statement of te !"o#lem: #et the conditions of e$istence of periodic soltions (oscillations) for a
closed nonlinear system %ith sing the describing fnction method!
Te $ol%tion of te !"o#lem. The comple$ transfer ratio of the nonlinear part (
# s
) depends on
the inpt amplitde (an amplitde dependent gain-appro$imation of the nonlinearity & (')):
( ) ( ) ( ) a ! # a ! a W
"
+
! (()
Transfer fnction of linear part:
( ) ( ) ( ) )m *e # # W
L
+
! (+)
The fre,ency transfer fnction of open-loop system:
( ) ( ) ( ) # W a W # a W
L " $L
,
! (-)
z x
./ L/
E&ISTENCE OF LI'IT C(CLES
There are oscillations in a close-loop system if the .y,ist plot
passes throgh the point %ith coordinates of
( ) 0 ; 1 #
:
( ) ( ) ( ) 1 , # W a W # a W
L " $L ! (1)
The condition of the e$istence of periodic soltion for close-loop system
( )
( ) ( ) ( ) a ! # a ! a W
# W
"
L
+

1 1

! (2)
0 *e
%34
%30
(-1;50)
)m
%&%
n
) ; ( # a W
# $L
GOLDFARB DIAGRA'
The point ) is the intersections of
) ( # W
L and
) (
1
a W
"

give '

and '
a a
for possible limit cycles!
&re,ency of periodic soltion '

is the fre,ency of .y,ist plot
( ) # W
L , and amplitde '
a a
is
amplitde of nonlinear part plot
( ) a W
"
1

!
0
*e
) ( # W
L
%34
%30
%&%
'
)m
) (
1
a W
"

a&a
'
)
GOLDFARB CRITERION
*o+ to )"edict Sta#ilit, of Limit C,cle$: 6ssme
( ) s W
L stable!
7table limit cycle: )f amplitde is increases after point of ) and field of
) (
1
# W
"

after point of )
isn8t encircled by
) ( # W
L !
0
*e
) ( # W
L
%34
%30
)m
) (
1
a W
"

)
a&a
'
(
a&a
'
)
OT*ER CASES
6n nstable limit cycle 1 %ith 1 1
,
n n
a
and a stable limit cycle - %ith 2 2
,
n n
a
is predicted!
6n nstable limit cycle is predicted 6n stable limit cycle is predicted
9
) (
1
a W
"

W
L
(#9)
9
n*
+a
n*
1 0
,e
-m
9
n.
+a
n.
a
2
WL(#9) WL(#9)
*:&:*:.;:7
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Pitfalls
_escribing fnction analysis can give erroneos reslts!
- _& analysis may predict a limit cycle, even if it does not e$ist!
- 6 limit cycle may e$ist, even if _& analysis does not predict it!
- The predicted amplitde and fre,ency are only appro$imations and can be far from the tre vales!
E&A')LE ./0 min.1
Initial condition:
Let the open-loop nonlinear system is given by the block-diagram:
Let mathematical model of nonlinear and linear parts:
s s s
s W
L
+ +

2 "
"
"
) (

'

<

>

0 , 1
, 0 , 0
, 0 , 1
) (
z
z
z
z F
Statement of te !"o#lem: #et the conditions of e$istence of periodic soltions (oscillations) for a closed nonlinear system %ith
sing the describing fnction method!
6lgorithm of the task soltion:
1! To constrct the locs
) ( # W
L ,
[ ) + ; 0
!
2! To constrct the locs
) (
1
a W
"

,
[ ) + ; 0 a
!
"! &ind the vales of fre,ency n

and amplitde n
a a
of the periodic soltions! That is to solve the harmonic balance
e,ation:
( )
( ) ( ) ( ) a ! # a ! a W
# W
"
L
+

1 1

`r the system of e,ations:

z x
./
L/
! 0 ) ( )m ) ( ) ( *e ) (
, 1 ) ( )m ) ( a ) ( *e ) (
1
+



# W a ! # W a !
# W a ! # W a !
L L
L L
(! _etermine the limit cycles on the basis of the #oldfarb criterion!