Modern Control Systems Stability Analysis

Course Name: Modern Control Systems
Course Code : EED-412

Session: 2021-22 (Odd-Semester)
Presentation By:
Dr. B B Sharma
Associate Professor
Department of Electrical Engineering
National Institute of Technology
Hamirpur HP-177005
Phone: +91-1972-254540
E-mail: bharat.nit@gmail.com
Stability Analysis of Nonlinear Systems
Describing Function Method:
• For using the describing function to analyze the nonlinear system, the
Linear parts of the system must be provided with a good characteristic of
the low-pass filter→so that the harmonics produced by the nonlinear
element can be neglected.
• The describing function N(X) of the nonlinear element is: the
complex ratio of the fundamental component of the output y(t)
and the sinusoidal input x(t).

r( t )  0 x (t )
N
y(t )
G(s)
c (t )
Figure: Typical structure of the
nonlinear systems
H(s)
19-11-2021 2
Describing Function Method Continued:
If : x(t )  X sint Sinusoidal Input
y(t), maybe it is not a sinusoidal but a periodic function, can be expressed
as a Fourier series:
2
 y(t )d (t )
1
A0 
2
0
2
 y(t ) cos ntd (t )

1
An 

0
2
 y(t ) sin ntd (t )

1
Bn 
Yn 
A
An2  Bn2 ,  n  arctg n 
Bn 0
i) For the symmetry nonlinearity: A0  0,

ii) the harmonic of y(t) could be neglected, then: y( t )  Y1 sin(t   1 )
Output frequency is equal to input frequency approximately. (Some kind of
harmonic linearization)
19-11-2021 3
The describing function N(X) of the nonlinear element is: the
complex ratio of the fundamental component of the output y(t)
and the sinusoidal input x(t),
For x( t )  X sint ,
y( t )  A1 cos t  B1 sint
Y1e j1
 Y1 sin(t   1 ) N(X ) 
X
2

 y(t ) cos td (t )
1
Y1  A12  B12 A1 

0
A 2
 1  arctg 1
 y(t ) sintd (t )
B1 1
B1 

0
19-11-2021 4
The describing function N(X)
19-11-2021 5
Describing Function for Saturation Nonlinearity:
• Characteristic curve for saturation is shown in following figure.
• Let us take input function as
• Now from the curve we can define

the output as:
• Let us first calculate Fourier series

constant A1.
19-11-2021 6
Describing Function for Saturation Nonlinearity Continued:
• On substituting the value of the output in the above equation and integrating
the function from 0 to 2π we have the value of the constant A1 as zero.
• Similarly we can calculate the value of Fourier constant B1 for the given
output and the value of B1 can be calculated as,
19-11-2021 7
Describing Function for Saturation Nonlinearity Continued:
• From input waveform, one can write,
• The phase angle for the describing function can be calculated as
• Thus the describing function for saturation is
19-11-2021 8
Describing Function for Dead-Zone Nonlinearity:
• Consider the dead-zone characteristics shown in Figure, with the dead-zone being 2δ
and its slope k:
• The response corresponding to a sinusoidal input x(t)=Asin(ωt) passing through a dead-
zone of width 2δ and slope k, with A≥δ, is as below:
• Since the characteristics is an odd function, A1=0. The response is also seen to be
symmetric over the four quarters of a period.
• In one quarter of a period, i.e., when 0≤ωt≤p/2, one has
-δ
δ x
dead-zone
19-11-2021 9
Describing Function for Dead-Zone Nonlinearity Continued:
• From input waveform, one can write,   sin  / A 
1
 0 0  t  
• From output waveform, we get: w (t)  
k A sin t       t   / 2
• The coefficient B1 can be computed as follows:
4 2
B1   w(t ) sin t  d t 
 0
4 2
  k  A sin t    sin t d t 
 
2kA   1      2 
  sin    1 2

 2  A A A 
• Thus the describing function for saturation is
2k   1      2 
NA    sin    1 2
  2  
A A A 
19-11-2021 10
Describing Function for Dead-Zone and Saturation Nonlinearity
Comparison:
Saturation:
2k    2  w
Dead-zone: 1    
NA    sin    1 2
  2  
A A A 
-δ
δ x
dead-zone
19-11-2021 11
Describing Function for Dead-Zone and Saturation Nonlinearity
Comparison:
19-11-2021 12
Describing Function for Ideal Relay Continued:
• The output periodic function has odd symmetry :
• Let us first calculate Fourier series constant A1:
• On substituting the value of the output in the above equation and integrating the
function from 0 to 2π we have the value of the constant A1 as zero.
Similarly, we can calculate the value of Fourier constant B1 for the given output and
the value of B1 can be calculated as
• On substituting the value of the output in the above equation y(t) = Y we have the
value of the constant B1 and the phase angle for the describing function can be
calculated as
19-11-2021 13
Describing Function for Ideal Relay:
We have the characteristic curve for ideal relay as shown in the given figure.
Let us take input function as
Now from the curve we can define the output as
19-11-2021 14
Describing Function for Ideal Relay Continued:
• Thus, the describing function for an ideal relay is :
Describing Function for Real Relay (Relay with Dead Zone):

We have the characteristic curve for real relay as shown in the given figure.
19-11-2021 15
Describing Function for Real Relay (Relay with Dead Zone):
If X is less than dead zone Δ, then the relay produces no output; the first harmonic
component of Fourier series is of course zero and describing function is also zero. If X > Δ
the relay produces the output as follows:
Let us take input function as
From the curve, we can define

the output as:
19-11-2021 16
Describing Function for Real Relay (Relay with Dead Zone)
Continued:
• The output periodic function has odd symmetry :

Calculate Fourier series constant A1:
• On substituting the value of the output in the above equation and integrating the
function from 0 to 2π we have the value of the constant A1 as zero.
• Similarly, we can calculate the value of Fourier constant B1 for the given output and
the value of B1 can be calculated as
19-11-2021 17
Describing Function for Real Relay (Relay with Dead Zone)
Continued:
Therefore, the describing function is
19-11-2021 18
19-11-2021 19
19-11-2021 20
If observer moves along increasing direction of frequency on polar plot and if -1/N(x) curve is left side than system is stable and
vice versa.
21
Perturbation Analysis for stability check and existence of limit cycle:
• Intersection points indicate presence of sustained oscillations i.e. presence of limit
cycle for a given nonlinear system.
• For checking stability of limit cycle, perturbation analysis is followed:
• Example:
• For Limit Cycle at A, let the magnitude is increased from Xa to Xa1, so system enters into
stable zone leading to reduction of magnitude and it pulls back magnitude to Xa.
• Let the magnitude is reduced from
Xa to Xa2, so system enters into unstable
zone leading to increase in magnitude and
it pushes back magnitude to Xa.
• So A presents stable limit cycle.
22
• For Limit Cycle at B, let the magnitude is increased from Xb to Xb1, so system enters into
unstable zone leading to increase in magnitude and it pushes magnitude towards
infinity.
• Let the magnitude is reduced from Xb to Xb2, so system enters into stable zone leading
to reduction in magnitude and it pushes back magnitude towards zero.
• So B presents unstable limit cycle.
23

Modern Control Systems Stability Analysis

Uploaded by

Document Information

Original Description:

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Modern Control Systems Stability Analysis

Uploaded by

Copyright:

Available Formats

Course Name: Modern Control Systems

Course Code : EED-412

 y(t ) cos ntd (t )

 y(t ) sin ntd (t )

i) For the symmetry nonlinearity: A0  0,

• Let us take input function as

• Now from the curve we can define

• Let us first calculate Fourier series

• The phase angle for the describing function can be calculated as

• Thus the describing function for saturation is

• Let us first calculate Fourier series constant A1:

Let us take input function as

Now from the curve we can define the output as

Describing Function for Real Relay (Relay with Dead Zone):

Let us take input function as

From the curve, we can define

• The output periodic function has odd symmetry :

Therefore, the describing function is

You might also like