Advances in Mechanical Engineering, ISSN: 2160-0619

Volume 2, Number 3, September, 2012

On an Optimal Linear Control of a Chaotic Non-Ideal Duffing System

Fbio Roberto Chavarette
Faculty of Engineering, UNESP Univ Estadual Paulista, Departament of Mathematics, Avenida
Brasil, 56, 15385-000, Ilha Solteira, SP, Brazil
fabioch@mat.feis.unesp.br
doi.10.5729/ame.vol2.issue3.1
Keywords: Chaos, Optimal linear control, Non-ideal duffing system.

Abstract. In this work, we use a nonlinear control based on Optimal Linear Control. We used as
mathematical model a Duffing equation to model a supporting structure for an unbalanced rotating
machine with limited power (non-ideal motor). Numerical simulations are performed for a set
control parameter (depending on the voltage of the motor, that is, in the static and dynamic
characteristic of the motor) The interaction of the non-ideal excitation with the structure may lead to
the occurrence of interesting phenomena during the forward passage through the several resonance
states of the system. Chaotic behavior is obtained for values of the parameters. Then, the proposed
control strategy is applied in order to regulate the chaotic behavior, in order to obtain a periodic
orbit and to decrease its amplitude. Both methodologies were used in complete agreement between
them. The purpose of the paper is to give suggestions and recommendations to designers and
engineers on how to drive this kind of system through resonance.
1. Introduction
The non-ideal dynamics in its great part is found in the literature for mechanical systems [1, 2] and
recently by [3]. The operation of mechanical systems depends, basically, of two effects: the
dissipation (damping) and the excitation.
The dissipation is produced for the friction. It is the responsible for the reduction of the amount
of kinetic and potential energy of the mechanical system.
The excitation will depend on the characteristics that constitute the dynamical system. When the
excitation is not influenced by the response of the system, this is said ideal excitation that has origin
in an ideal energy source. On the other hand, when the excitation is influenced by the response of
the system, the excitation is said to be non-ideal [2].
As a first characteristic that differentiate them, the system non-ideal is that it presents an
equation that describes the interaction of the energy source with the ideal dynamic system.
Therefore, the non-ideal system the dynamics depends directly on the properties of the excitation
whose available potency in the energy source, generally, it is limited.
As a second characteristic, is observed that the dynamics of a non-ideal system approaches of the
ideal case as the supplied potency becomes sufficiently big and vice-versa.
Prof. Duffing introduced a nonlinear ideal and oscillator, with a cubic stiffness term, to describe
the hardening spring effect observed in many mechanical problems. Since then, this ideal equation
has become one of the most popular models, in the classical studies of nonlinear oscillations,
bifurcations and chaos.
In Duffing original formulation, the equation had the traditional form

x + x + px + x 3 = cos( wt )

(1)

where t is the time variable, , p, , , and w where assumed to be real constants, and,
particularly, the coefficient of the linear stiffness term, p, was chosen to be positive. Duffing
equation was exhaustively studied in current literature by a number of authors.
We remarked that, in the last years, a significant interest in control theory of the nonlinear
systems, exhibiting chaotic behavior, has been observed. Among strategies of chaos control, with
feedback, the most popular is OGY (Ott-Grebogi-York) method [4]. This method uses the Poincar
map of the considered dynamical system.
Recently, a methodology to linear system with periodic coefficients, based on the application of
the Lyapunov-Floquet transformation, was proposed by Sinha et al. [5] in order to solve this kind of
problem. This method allows directing the chaotic motion to any desired periodic orbit or to a fixed
point. It is based on linearization of the equations, which described the error between the actual and
desired trajectories.
Here, we use different approaches, which were proposed by Rafikov and Balthazar in [6]: the
Dynamic Programming was used to solve the formulated optimal control problems [7, 8] and we
will obtain functions that satisfied the Hamilton-Jacobi-Bellman, among the correspondent
Lyapunov functions of the Duffing non-ideal equation.
Finally, we mention that this paper is organized, as follows: in section 2, we analyze the ideal
behavior of the nonlinear dynamics of the Duffing equation. In section 3, we analyze the non-ideal
behavior of the nonlinear dynamics of the Duffing equation. In section 4, we proposed an optimal
control design problem to Duffing equation. In section 5, we do some concluding remarks of this
work and in section 6, we list the main bibliographic references used and next we do some
acknowledgements.
2.

Dynamic ideal to duffing equation

In this section, we consider ideal Duffing model. Varying the parameters in the equation (1) we
found chaotic responses. Here taken the following values of the dimensionless parameters =0.3,
p=1.0, =1.0 w=1.2 and a set of dimensionless values for excitation: =0.25, =0.27, =0.29 and
=0.45.
For =0.25, fig 1a, the Duffing system is 1-periodic. For : =0.27, fig. 1b, the system is 1periodic,
but with two period . For =0.29, show multiples periods. Finally, for =0.45 we have the behavior
chaotic.

Figure 1. (a) Phase portrait for =0.25. (b) FFT for =0.25.

Figure 2. (a) Phase portrait for =0.27. (b) FFT for =0.27.

Figure 3. (a) Phase portrait for =0.29. (b) FFT for =0.29.

Figure 4. (a) Phase portrait for =0.45. (b) FFT for =0.45.

3. Dynamic non-ideal to duffing equation

In this section, we consider an extended Duffing equation with a Non-ideal excitation, this way, we
add one degree that original Duffing equation to describe the interaction of system and the motor.
An Non-Ideal Duffing equation may defined as follows:

x + 1 x w12 x + px 3 = f cos(t ) + T

(2)

z + b z r x sin z +
2

(3)

T = q ( z cos z + z sin z )

(4)

Where z is non-ideal excitation response, a, b, q and r are dimensionless constant positives. The
term T is due interaction between the dynamical system and an energy source, for example, a DC
motor with limited power supply. T is responsible to the Non-idealization of the Duffing oscillator.

Note also that in the equation (3) we may observe an interaction term r x sin z .The parameter a is a
constant depending on initial conditions and b is an internal damping in Dc Motor.
For numerical simulations we taken dimensionless values =0.3, p=1.0, =1.0 w=1.2, =0.45 (of
the Duffing Equation in section 2) and a=2.3,b=1.5,r=0.5 and q=0.5
In the figure 5, show the chaotic behavior, being, (a) the time history for x(t), (b) the time history

for x(t ) , (c) the Phases portrait and (d) the FFT.
3

Figure 5.The chaotic behavior for Non-Ideal Duffing Equation

4. Optimal linear control design

In this section, we also developed an optimal linear control design for the non-ideal Duffing
equation reducing the oscillatory movement of the non-ideal Duffing equation to a periodic orbit
We consider the nonlinear system

x = Ax + g ( x)

(5)

where x R n is vector of states, x R nn is constant matrix, and g(x) is vector, whose elements are
continuous functions. In several engineering problems, the objective is to choose the control law U
that moves the system of the disturbed regime to a desired one, either an equilibrium fixed point or
a periodic or not periodic orbit.
~

Lets consider a vector function x that characterizes the desired trajectory. The controlled
system is

x = Ax + g ( x) + U

(6)

where U R m is a control vector that consists of two parts

~

U = + ut

(7)

The part u is the feed forward control that may be expressed as:
~

= x A x g ( x)

(8)

and the control u is a linear feedback and it may be expressed as:

f

ut = B

(9)

where B R nm is constant matrix.

Defining
~

y = xx

(10)

as variation of the trajectory of the system Eq. (6) of the trajectory desired, and admitting Eq.
(7)(9), arrive at the variation equation :

y = Ay + g ( x) g ( x) + Bu

(11)

The non-linear part of the system Eq. (10) can be written as

~

g ( x) g ( x) = G ( x, x)( x x)

(12)

where G ( x, x) is a limited matrix, whose elements depend on x and x . Admitting Eq. (12),
the system Eq. (10) has the following form:

y = Ay + G ( x, x) + Bu

(13)

Then we will use the theorem done by Rafikov and Balthazar [6-8].
In addition, with the feedback control (6), there exists a neighborhood 0 , n , of the
origin such that if x0 0 , the solution x(t ) = 0, t 0 , of the controlled system (11) is locally
asymptotically stable, and J min = x0T P (0) x0 Finally, if = n then the solution y (t ) = 0, t > 0 , of the
controlled system (11) is globally asymptotically stable. Using the theorem by Rafikov and
Balthazar the dynamic error y can be minimized ( y 0 ) [6-8]
Theorem. If there exist matrixes Q and R, positive definite, being Q symmetric, such that the
matrix
~

Q = Q G T ( x, x) P PG ( x, x)

(14)

is positive definite for the limited matrix G, then the linear feedback control
u = R 1 BT Py
(15)
is optimal, in order to transfer the non-linear system (13) of from any initial state to the terminal
state
y ( ) = 0
(16)
minimizing the functional
~

J = ( yT Q y + uT Ru )dt

(17)

where the symmetric matrix P is calculated from the algebraic nonlinear Riccati equation:
PA + AT P PBR 1 BT P + Q = 0
(18)
Next, we will apply this methodology to Non-Ideal Duffing Equation mathematical model. The
equations Eq. (19) describing the Non-Ideal Duffing Equation controlled, can be written in the
following form

x = x1

y = y1

(19)

x = 1.5 y1 + 0.5 x1 sin( y ) + 2.3 + U ;

y = 0.29 + 31.1364 x1 + x 1 + x 3 + 0.7 cos(5.85) + (0.5( y12 cos( y ) + y1 sin( y)));

Where the function of control U is determinate by Eq. (7). The matrix A is
0

1 3 x 2
A =
0

1
1
31.1364 y12 sin( y ) + y1 cos( y )
2
2
0
0
1
sin( y )
1

1
x1 cos( y )
2

and
5

1
y1 cos( y ) + sin( y )
2

2
0

(20)

1
0
B=
0

0

1
0.1
~

~
0
x x
0.1
Where y = 1 ~1 , x = and the martrix Q =

0
0.1
x2 x2

0
0.1
matrix.
Where

(21)

1 0 0
1 0 0
is a definitive positive
0 1 0

0 0 1

1
0
0
0
0.9724 1.0025 1.0805 0.0247

A=
0
0
0
1

0.0485 0.05 0.1409 1.4888

(22)

0
120
80
0
0
120
36400 23400

P=
0 36400 128610 82570

120 23400 82570 53010

(23)

Obtaining

Solving the algebraic equation of Riccati Eq. (18) the function of optimal control u has the
following form:

u =3.8554 x1 3.2246 x2 124.0621 x3 78.2124 x4

(24)

In the figure 6, show in (a) the trajectories x(t ) of the system without control. (b) the trajectories
~

x(t ) of the system without control , (c) the control Phases portrait, (d) the FFT for control system,
(e) the trajectories x(t ) of the system without control and controlled system and (f) the trajectories

x(t ) of the system without control and controlled system

Figure 5. The control non-ideal duffing equation

6

5. Conclusions remarks

In this work, a non-ideal problem and a control strategy was proposed for Duffing Equation. The
Non-Ideal Duffing Equation when subjected to a harmonic excitation producing chaotic behavior
and a control strategy was applied to regulate the chaotic behavior.
We considered Optimal Linear Feedback Control strategy for Non-Ideal Duffing Equation. The
theory allowed reducing the chaotic behavior of the system to a limit cycle, where the theory of the
Optimal Linear Feedback Control uses constants coefficients and it is an analytical procedure.
This control strategy may be extending to other problems.
References

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