Cchap..6 Computer Simulation andthe Linearization of Nonlinear Systems 123 O=falisy X24) (6.21) Subtract eq. (6.20) from (6.18) and (6.21) from (6.19) and take dt Ox, x2. and dlxr~ x25) _[ ah _ [| . dt pall angi! aut Laxa bons aa? ¥2s) (6.23) Defining the deviation variables by Xyexy—xyy and xte xy x25 ‘eqs. (6.22) and (6.23) take the following form in terms of deviation variables: dt as at where ay an=[24] A final comment is in order. In the previous and present sections we considered the presence of state variables only in the nonlinear func- tions. Thus for systems with one variable, we had only the state x, and for systems with two variables we had only states x1 and x2. The formulation above should not be perceived as restrictive, but it is easily expanded to include the presence of input variables, like the manipu- od vatiabies aud the disturbances. Tie fotiowing exampie demon- strates this point. Example 6.3 Consider a dynamic system described by two slate variables 41 and x2 and the following state equations: BE FG, xe, mms, dd at B26 fh, x2, my my di Gifs x4 my my de)