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CONTROL SYSTEMS

November 10, 2020

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1 Question

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Chapter 2 - Question 50

Consider the differential equation

d 2x dx
2
+3 + 2x = f (x) (1.1)
dt dt
where f(x) is the input and is a function of the output, x.
If f(x) = sinx, linearize the differential equation for small
excursions.
a. x = 0
b. x = π

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Answer:
• The presence of sinx makes the equation non-linear.
a: Since we want to linearize the equation about x = 0, we let
x = δx + 0,
where
δx is the small excursion about 0, and substitute x in equation :
1.1

d 2 (δx + 0) d(δx + 0)
+3 + 2(δx) = sin(δx + 0) (2.1)
dt 2 dt
Since,

dsinx
sin(δx + 0) − sin(0) = |x=0 δx (2.2)
dx

=> sin(δx + 0) = 0 + cosx|x=0 δx = δx (2.3)

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Continuation..

Therefore,

d 2 (δx) d(δx)
2
+3 + 2(δx) = δx (2.4)
dt dt

d 2 (δx) d(δx)
=> 2
+3 + δx = 0 (2.5)
dt dt
Therefore, the linearized differential equation is:

d 2 (δx) d(δx)
2
+3 + δx = 0 (2.6)
dt dt

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Continuation..
b: Since we want to linearize the equation about x = π, we let
x = δx + π,
where
δx is the small excursion about π, and substitute x in equation :
1.1

d 2 (δx + π) d(δx + π)
+3 + 2(δx) = sin(δx + π) (2.7)
dt 2 dt
Since,

dsinx
sin(δx + π) − sin(π) = |x=π δx (2.8)
dx

=> sin(δx + π) = 0 + cosx|x=π δx = −δx (2.9)

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Continuation..

Therefore,

d 2 (δx) d(δx)
2
+3 + 2(δx) = −δx (2.10)
dt dt

d 2 (δx) d(δx)
=> 2
+3 + 3(δx) = 0 (2.11)
dt dt
Therefore, the linearized differential equation is:

d 2 (δx) d(δx)
2
+3 + 3(δx) = 0 (2.12)
dt dt

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