Nonlinear Control

Lecture # 3
Two-Dimensional Systems

Nonlinear Control by Hassan K. Khalil

©2015 • Pearson Education
Nonlinear Control Lecture # 3 Two-Dimensional Systems
 1

Multiple Equilibria
Example 2.2: Tunnel-diode circuit

iL L
 s
+ vL
X
X


i,mA

CC iC CC iR 1

R
P
P


P
P

P

i=h(v)

P
P
P


P
P 0.5
+ +
vC C J
J
J

vR
E 0

−0.5
(a) 0 0.5 1 v,V
(b)

x1 = vC , x2 = iL

Nonlinear Control Lecture # 3 Two-Dimensional Systems

 ẋ1 = 0.5[−h(x1 ) + x2 ]
ẋ2 = 0.2(−x1 − 1.5x2 + 1.2)

h(x1 ) = 17.76x1 − 103.79x21 + 229.62x31 − 226.31x41 + 83.72x51

i
R
1.2
1
0.8
Q
2
Q1 = (0.063, 0.758)
0.6 Q
1 Q2 = (0.285, 0.61)
0.4
Q Q3 = (0.884, 0.21)
0.2 3

0
0 0.5 1 v
R

Nonlinear Control Lecture # 3 Two-Dimensional Systems

  
∂f −0.5h′ (x1 ) 0.5
=
∂x −0.2 −0.3

 
−3.598 0.5
A1 = , Eigenvalues : − 3.57, −0.33
−0.2 −0.3
 
1.82 0.5
A2 = , Eigenvalues : 1.77, −0.25
−0.2 −0.3
 
−1.427 0.5
A3 = , Eigenvalues : − 1.33, −0.4
−0.2 −0.3

Q1 is a stable node; Q2 is a saddle; Q3 is a stable node

Nonlinear Control Lecture # 3 Two-Dimensional Systems

 x
2
1.6

1.4

1.2

0.8 Q
1 Q
2
0.6

0.4

0.2 Q
3
0
x
1
−0.2

−0.4
−0.4 −0.2 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6

Nonlinear Control Lecture # 3 Two-Dimensional Systems

 Example 2.3: Pendulum

ẋ1 = x2 , ẋ2 = − sin x1 − 0.3x2

Equilibrium points at (nπ, 0) for n = 0, ±1, ±2, . . .
   
x2 ∂f 0 1
f (x) = , =
− sin x1 − 0.3x2 ∂x − cos x1 −0.3

Nonlinear Control Lecture # 3 Two-Dimensional Systems

  
∂f 0 1
=
∂x − cos x1 −0.3
Linearization at (0, 0) and (π, 0):
 
0 1
A1 = ; Eigenvalues : − 0.15 ± j0.9887
−1 −0.3
 
0 1
A2 = ; Eigenvalues : − 1.1612, 0.8612
1 −0.3

(0, 0) is a stable focus and (π, 0) is a saddle

Nonlinear Control Lecture # 3 Two-Dimensional Systems

 4
x2
3 B

1 A

0
x1

−1

−2

−3

−4
−8 −6 −4 −2 0 2 4 6 8

Nonlinear Control Lecture # 3 Two-Dimensional Systems

Oscillation
A system oscillates when it has a nontrivial periodic solution

x(t + T ) = x(t), ∀ t ≥ 0

Linear (Harmonic) Oscillator:

 
0 −β
ż = z
β 0

z1 (t) = r0 cos(βt + θ0 ), z2 (t) = r0 sin(βt + θ0 )

 
−1 z2 (0)
q
r0 = z12 (0) + z22 (0), θ0 = tan
z1 (0)

Nonlinear Control Lecture # 3 Two-Dimensional Systems

 The linear oscillation is not practical because
It is not structurally stable. Infinitesimally small
perturbations may change the type of the equilibrium
point to a stable focus (decaying oscillation) or unstable
focus (growing oscillation)
The amplitude of oscillation depends on the initial
conditions
(The same problems exist with oscillation of nonlinear
systems due to a center equilibrium point, e.g., pendulum
without friction)

Nonlinear Control Lecture # 3 Two-Dimensional Systems

Limit Cycles
Example: Negative Resistance Oscillator

❳
❳
✘
✘
i
✟ +
✟
✠ i = h(v)
C L
✟
✠
✟
✠
Resistive
✠ v
Element
❈✄ iC ❈✄ iL
v
−

(a) (b)

Nonlinear Control Lecture # 3 Two-Dimensional Systems

 ẋ1 = x2
ẋ2 = −x1 − εh′ (x1 )x2

There is a unique equilibrium point at the origin

 
 0 1
∂f 
A= = 
∂x x=0
−1 −εh (0)′

λ2 + εh′ (0)λ + 1 = 0
h′ (0) < 0 ⇒ Unstable Focus or Unstable Node

Nonlinear Control Lecture # 3 Two-Dimensional Systems

 Energy Analysis:
E = 12 CvC2 + 12 Li2L

1
vC = x1 and iL = −h(x1 ) − x2
ε

E = 12 C{x21 + [εh(x1 ) + x2 ]2 }

Ė = C{x1 ẋ1 + [εh(x1 ) + x2 ][εh′ (x1 )ẋ1 + ẋ2 ]}

= C{x1 x2 + [εh(x1 ) + x2 ][εh′ (x1 )x2 − x1 − εh′ (x1 )x2 ]}
= C[x1 x2 − εx1 h(x1 ) − x1 x2 ]
= −εCx1 h(x1 )

Nonlinear Control Lecture # 3 Two-Dimensional Systems

 −a x
b 1

Ė = −εCx1 h(x1 )

Nonlinear Control Lecture # 3 Two-Dimensional Systems

 Example 2.4: Van der Pol Oscillator

ẋ1 = x2
ẋ2 = −x1 + ε(1 − x21 )x2

4 x2 x
3 2
3
2 2

1 1

0 0
x x
1 −1 1
−1
−2 −2
−3
−2 0 2 4 −2 0 2 4
(a) (b)

ε = 0.2 ε=1

Nonlinear Control Lecture # 3 Two-Dimensional Systems

 1
ż1 = z2
ε
ż2 = −ε(z1 − z2 + 31 z23 )

3
10 x z
2 2
2

5 1

0
0 z
−1 1
x
1
−5 −2

−3
−5 0 5 10 −2 0 2
(a) (b)

ε=5

Nonlinear Control Lecture # 3 Two-Dimensional Systems

 x x
2 2

x x
1 1

(a) (b)

Stable Limit Cycle Unstable Limit Cycle

Nonlinear Control Lecture # 3 Two-Dimensional Systems