Professional Documents
Culture Documents
Nonlinear Control Systems: Ant Onio Pedro Aguiar Pedro@isr - Ist.utl - PT
Nonlinear Control Systems: Ant Onio Pedro Aguiar Pedro@isr - Ist.utl - PT
2011/2012
1
1. Introduction to Nonlinear Systems
Objective The main goal of this course is to provide to the students a solid
background in analysis and design of nonlinear control systems
2
1. Introduction to Nonlinear Systems
However
• dynamics of linear systems are not rich enough to describe many commonly
observed phenomena
3
1. Introduction to Nonlinear Systems
State-space model
State equation
ẋ = f (t, x, u)
Output equation
y = h(t, x, u)
x1 u1 f1 (t, x, u)
2 3 2 3 2 3
6 x2 7 6 u2 7 6 f2 (t, x, u) 7
x = 6 . 7, u = 6 . 7, f (t, x, u) = 6 ..
6 7 6 7 6 7
4 .. 5 4 .. 5
7
4 . 5
xn um fn (t, x, u)
where x ∈ Rn is the state variable, u ∈ Rm is the input signal, and y ∈ Rq the output
signal. The symbol ẋ = dx
dt
denotes the derivative of x with respect to time t.
5
1. Introduction to Nonlinear Systems
State-space model
State equation
ẋ = f (t, x, u) (1)
Output equation
y = h(t, x, u) (2)
Particular cases:
• Linear Systems, where the state model takes the form
ẋ = A(t)x + B(t)u
y = C(t)x + D(t)u
• Unforced state equation
ẋ = f (t, x)
i.e., it does not depend explicitly on the input u, e.g., consider the case that there
is a state feedback u = γ(t, x), and therefore the closed-loop system is given by
ẋ = f (t, x, γ(t, x)) = f˜(t, x)
• Unforced autonomous (or time-invariant) state equation
ẋ = f (x)
6
1. Introduction to Nonlinear Systems
Example - Pendulum
There is a frictional force assumed to be proportional to the (linear) speed of the mass
m. Using the Newton’s second law of motion at the tangential direction
where m is the mass, l is the length of the rope and k the frictional constant.
7
1. Introduction to Nonlinear Systems
Example - Pendulum
8
1. Introduction to Nonlinear Systems
Equilibrium point
ẋ = f (t, x)
if
x(t0 ) = x∗ ⇒ x(t) = x∗ , ∀t ≥ t0
that is, if the state starts at x∗ , it will remain at x∗ for all future time.
For autonomous systems, the equilibrium points are the real roots of f (x) = 0.
Much of nonlinear analysis is based on studying the behavior of a system around its
equilibrium points.
9
1. Introduction to Nonlinear Systems
Example - Pendulum
State model
ẋ1 = x2
ẋ2 = − gl sin (x1 ) − k
x
m 2
Equilibrium points:
0 = x2
0 = − gl sin (x1 ) − k
x
m 2
which implies that x2 = 0 and sin(x1 ) = 0. Thus, the equilibrium points are
(nπ, 0), n ∈ Z
10
1. Introduction to Nonlinear Systems
ẋ = Ax, x ∈ R2 , A ∈ R2×2
M −1 AM = J, M ∈ R2×2
where J is the real Jordan form of A, which depending on the eigenvalues of A may
take one of the three forms
» – » – » –
λ1 0 λ k α −β
, ,
0 λ2 0 λ β α
11
1. Introduction to Nonlinear Systems
Av1 = λ1 v1
Av2 = λ2 v2
Thus,
» – » –
λ1 0 λ1 0
A [v1 |v2 ] = [v1 |v2 ] ⇒ M = [v1 |v2 ] ⇒ M −1 AM = =J
0 λ2 0 λ2
z = M −1 x
ż1 = λ1 z1
ż2 = λ2 z2
Why? » –
λ1 0
ż = M −1 ẋ = M −1 Ax = M −1 AM z = z.
0 λ2
12
1. Introduction to Nonlinear Systems
ż1 = λ1 z1
ż2 = λ2 z2
For a given initial state (z1 , z2 )(0), the solution is given by
z1 (t) = z1 (0)eλ1 t
z2 (t) = z2 (0)eλ2 t
Eliminating time t,
z2 (0)
z2 (t) = z1 (t)λ2 /λ1
z1 (0)λ2 /λ1
Why?
z1 (t) 1 z1 (t)
= eλ1 t → t = ln
z1 (0) λ1 z1 (0)
and so,
λ2
λ2 z (t) z (t)
ln z 1 (0) ln z 1 (0) λ1
z2 (t) = z2 (0)e λ1 1 = z2 (0)e 1 .
At this point several combinations of the eigenvalues can arise...
13
1. Introduction to Nonlinear Systems
(a) λ1 , λ2 < 0. In this case eλ1 t , eλ1 t → 0 and the curves are parabolic. Consider,
without loss of generality that λ2 < λ1 .
Phase portrait
14
1. Introduction to Nonlinear Systems
(b) λ1 , λ2 > 0. The phase portrait will retain the same character but with the
trajectories directions reversed. In this case the equilibrium point x = 0 is called
an unstable node.
(c) The eigenvalues have opposite signs. Consider for example the case λ2 < 0 < λ1 .
λ2
z (t)
ln z 1 (0) λ1
z2 (t) = z2 (0)e 1 .
λ2
The exponent λ1
is negative, thus we have hyperbolic curves.
15
1. Introduction to Nonlinear Systems
16
1. Introduction to Nonlinear Systems
ṙ = αr
θ̇ = β
17
1. Introduction to Nonlinear Systems
These equations represent the logarithmic spiral, and for different values of α we get
i) α < 0 is a stable focus
ii) α > 0 is an unstable focus
iii) α = 0 is a center.
18
1. Introduction to Nonlinear Systems
Other cases
a) λ1 = λ2 = λ 6= 0
b) λ1 = 0, λ2 6= 0
ż1 = 0
ż2 = λz2
c) λ1 = λ2 = 0
ż1 = z2 , (k = 1)
ż2 = 0
..
.
19
1. Introduction to Nonlinear Systems
ẋ1 = f1 (x1 , x2 )
ẋ2 = f2 (x1 , x2 )
ẋ1 = f1 `x∗1 , x∗2 ´ + a11 `x1 − x∗1 ´ + a12 `x2 − x∗2 ´ + H.O.T.
` ´ ` ´ ` ´
20
1. Introduction to Nonlinear Systems
also denoted as the Jacobian Matrix and considering only the first order terms we
obtain the following linear system
ż = Az.
21
1. Introduction to Nonlinear Systems
ẋ1 = f1 (x1 , x2 )
⇔ ẋ = f (x)
ẋ2 = f2 (x1 , x2 )
where f1 , f2 are analytic (i.e., f1 , f2 have convergent Taylor series representation) and
f (x∗ ) = 0. The linearization around the equilibrium point x = x∗ provides the
following linear system ˛
∂f ˛˛
ż = Az, A=
∂x ˛ ∗
x=x
where z = x − x∗ .
22
1. Introduction to Nonlinear Systems
However
If the Jacobian matrix A has eigenvalues on the imaginary axis, then the qualitative
behavior of the nonlinear state equation near the equilibrium point could be quite
distinct from that of the linearized state equation!
Example:
a) ẋ = x3 , x ∈ R, is an unstable system
b) ẋ = −x3 , x ∈ R is a stable system
23
1. Introduction to Nonlinear Systems
Example - Pendulum
State model
ẋ1 = x2
ẋ2 = − gl sin (x1 ) − k
x
m 2
Equilibrium points
(nπ, 0), n ∈ Z
Jacobian matrix
1. x∗ = (0, 0)
˛ » – s„ «2
∂f ˛˛ 0 1 k 1 k 4g
A1 = = → λ1,2 =− ± −
∂x ˛x − gl −mk
2m 2 m l
1 =0,x2 =0
2. x∗ = (π, 0)
˛ » – s„ «2
∂f ˛˛ 0 1 k 1 k 4g
A2 = = g k → λ1,2 =− ± +
∂x ˛x l
−m 2m 2 m l
1 =π,x2 =0
24
1. Introduction to Nonlinear Systems
Example - Pendulum
g k
Consider the case l
= 1 and m
= 0.5.
1. z1 = x − 0 » –
0 1
ż1 = A1 z1 , A1 =
−1 −0.5
Eigenvalues: λ1,2 = −0.25 ± j0.97. Thus the equilibrium point x∗ = (0, 0) is a
stable focus.
2. z2 = x − π » –
0 1
ż2 = A2 z2 , A2 =
1 −0.5
Eigenvalues: λ1 = −1.28, λ2 = 0.78. Thus the equilibrium point x∗ = (π, 0) is a
saddle point.
If k = 0, λ1,2 are on the imaginary axis and therefore we cannot determine the
stability of the origin through linearization!
25
1. Introduction to Nonlinear Systems
Example 3
Consider the following system
ẋ1 = x2 ,
ẋ2 = −x1 − εx21 x2
The linearization around x = 0 yields
» – » –» –
ż1 0 1 z1
=
ż2 −1 0 z2
where the eigenvalues are ±j.
Is it a center?
The answer is NO, for > 0 is stable and for < 0 is unstable.
Example 4
27
1. Introduction to Nonlinear Systems
Example 4
Phase portraits:
• We are in the presence of a bifurcation, that is, a change in the equilibrium points
or periodic orbits or in their stability properties, as a parameter is varied.
• In this example we have a saddle-node bifurcation because it results from the
collision of a saddle and a node. µ is the bifurcation parameter and µ = 0 is the
bifurcation point.
• There exist other types of bifurcations, e.g. transcritical bifurcation,
super/subcritical pitchfork bifurcation and super/subcritical Hopf bifurcation.
28