Master of Science Course in Mechanical Engineering

Politecnico di Milano

Stability analysis of single-dof systems

Control and Actuating Devices for Mechanical Systems

Prof. Edoardo Sabbioni

1
Scope

We are concerned with the free response of a mechanical system to a perturbation

from a given condition of equilibrium or motion.

In a qualitative way, we can say that a system is stable if, as a consequence of a

perturbation, it tends to go back to its equilibrium position or unperturbed motion,
or at least it shows a bounded response. That is, no divergence from the
equilibrium position/unperturbed motion occurs.

For simplicity, we will face the problem of stability analysis starting from a single-dof
system. Then we will extend our investigation to 2-dof and N-dof systems.

2
Preliminary definitions

!x t $
x t =# & ()
State variables: ()# x t &
" % ()
⎡ x0 ⎤
Static equilibrium position: x 0 = ⎢ ⎥
⎣ 0 ⎦
!x t $ ! $
# & () x(t) − x0
Perturbation: ()
x t = = #
# x t & # x(t)
&
" ()
% "  −0
&
%
!x $
Initial perturbation: x 0 = # 0&
() #" x0 &%

Euclidean norm of the perturbation vector: x

x
2 2
x t = x t + x t
() () () x
3
Stability: Liapunov definition

If, for any arbitrary positive quantity δ such that

x ( 0) < δ
there exists a positive quantity ε that satisfies the inequality
x (t ) < ε for 0 ≤ t < ∞
then the system is stable.

If, in addition to the previous condition, the following property holds

lim x ( t ) = 0
t →∞

then the system is asymptotically stable.

The system is unstable if it is not stable.

4
Stable system

x&

STABLE

δ
x

x (0)

t x (t )

The system’s response remains bounded within a cylinder of radius ε.

5
Asymptotically stable system

x&
ASYMPTOTICALLY STABLE

δ
x

x (0)

t x (t )

The system’s response goes back to the original equilibrium position.

6
Unstable system

x&

UNSTABLE

δ
x

x (0)

t x (t )

The system’s response diverges from the initial state.

7
Definitions

ks x
m
x + cs x + k s x = 0
m
cs m, cs , k s ≥ 0

Up to now, the system we have been making reference to is the single-dof vibrating
system reported in the figure above, which is a Linear Time Invariant (LTI) system.

The two constants cs and ks are positive and account for the system’s structural
stiffness and damping. The system in figure is conservative with respect to the
forces that are a function of the system’s position (i.e the elastic force resulting from
the spring ks) and dissipative with respect to the forces that are a function of the
system’s velocity (i.e the damping force resulting from the dashpot cs)

8
Nonlinear force fields

ks x

f (x, x)
m m
x + cs x + k s x = f (x, x )
cs

In general, when considering mechanical systems, in addition to elastic and

damping forces (i.e. the structural contributions represented by the two constants
ks and cs respectively), other force fields may be acting on the system.
The latter typically give rise to a nonlinear function f (x, x ) of the system’s state.

These can be:

§  loads associated with fluid-structure interaction (e.g. aerodynamic or
lubrication forces)
§  friction/contact forces
§  electromagnetic forces
§  etc.
Closed-loop feedback control can also be regarded to as a force field, since it
results in a force which is a function of the system’s state. 9
Nonlinear force fields

ks x

f (x, x)
m m
x + cs x + k s x = f (x, x )
cs

We will see that, if we consider the perturbed motion in the neighborhood of an

equilibrium position, the linearization process allows to transform the nonlinear
differential equation into a linear constant coefficient homogeneous one :

m
x + ctot x + ktot x = 0
where x is the perturbation.
In particular, the two constants ktot and ctot are the sum of two contributions:
§  structural stiffness/damping ks and cs
§  equivalent stiffness/damping parameters kF and cF, that result from the
linearization of the force field contribution
In other words: ktot = k s + k F ctot = cs + cF
10
Liapunov’s theorem

Provided that small perturbations in the neighborhood of the static equilibrium

position are considered, the following considerations can be drawn analyzing the
perturbed motion of the system:
§  if the linearized system is asymptotically stable, the nonlinear one is stable too;
§  if the linearized system is stable, but not asymptotically, nothing can be inferred
on the stability of the nonlinear system;
§  if the linearized system is not stable, the nonlinear one is not stable too.

11
Linearization

ks x

f (x, x)
m m
x + cs x + k s x = f (x, x )
cs

Computation of the equilibrium position x0:

k s x0 = f ( x0 ,0) à nonlinear algebraic equation in the unknown x0

Expansion in Taylor’s series of the nonlinear function f (x, x ):

∂f ∂f
f (x, x ) ≅ f (x0 ,0) + ⋅ (x − x0 ) + ⋅ ( x − 0)
∂x x=x0 ∂x x=x0
x =0 x =0

12
Linearization

∂f ∂f
f (x, x ) ≅ f (x0 ,0) + ⋅ (x − x0 ) + ⋅ ( x − 0)
∂x x=x0 ∂x x=x0
x =0 x =0

x = x0 + x x = x x = 
 x
∂f ∂f
kF = − cF = −
∂x x=x0 ∂x x=x0
x =0 x =0

m
x + cs x + k s x0 + k s x = f (x0 ,0) − k F x − cF x

m
x + (cs + cF ) x + (k s + k F )x = 0

m
x + ctot x + ktot x = 0

In order to simplify the notation, from now on, we will indicate: ctot=c & ktot=k
13
Stability analysis

m
x + cx + kx = 0 à linearized differential equation

2nd order, linear, homogeneous, differential equation with constant coefficients that
governs the perturbed (free) motion x (t ) in the neighborhood of the system’s
equilibrium position x0

x = xˆ ⋅ eλt à characteristic solution

(λ 2 m + λ c + k ) ⋅ xˆ ⋅ eλt = 0

λ 2m + λ c + k = 0 à characteristic equation

2nd degree algebraic equation in the unknown λ

2
c ⎛ c ⎞ k
λ 1,2 = − ± ⎜ ⎟ −
2m ⎝ 2m ⎠ m
14
Stability analysis

2
c ⎛ c ⎞ k
λ 1,2 = − ± ⎜ ⎟ − = −α ± β
2m ⎝ 2m ⎠ m

We will now go through the possible solutions λ1,2 depending on the sign and
modulus of the parameters c and k

To this end, we will distinguish between six main cases

r
h=
I II III IV V VI 2mω 0
c + + + - - -
|h| ≥1 <1 / ≥1 <1 / k
ω0 =
k + + - + + - m

15
Stability analysis - Case I

2
c ⎛ c ⎞ k
λ 1,2 = − ± ⎜ ⎟ − = −α ± β
2m ⎝ 2m ⎠ m
c
h=
k >0 c>0 ⇒ α >0 2mω 0
2 2
" c % k " c % k
h ≥1 ⇒ $ ' − ≥0 ⇒ $ ' ≥ ⇒ h2 ≥ 1 ⇒ h ≥1
# 2m & m # 2m & m

β≥0 ⇒ β < α ⇒ λ 1,2 = ⎨

⎧ −α1
α1 , α 2 > 0 x
⎩−α 2

−α1t −α 2t
()
x t = X 1e + X 2e ASYMPTOTIC STABILITY

t
16
Stability analysis - Case II

2
c ⎛ c ⎞ k
λ 1,2 = − ± ⎜ ⎟ − = −α ± β
2m ⎝ 2m ⎠ m
c
h=
k >0 c>0 ⇒ α >0 2mω 0
2 2
" c % k " c % k
0 < h <1 ⇒ $ ' − <0 ⇒ $ ' < ⇒ h2 < 1 ⇒ 0 < h <1
# 2m & m # 2m & m

β < 0 ⇒ λ1,2 = −α ± jω
x
x t = e −αt Acos ω t + ϕ
() ( ) ASYMPTOTIC STABILITY
t

17
Stability analysis - Case II

2
c ⎛ c ⎞ k
λ 1,2 = − ± ⎜ ⎟ − = −α ± β
2m ⎝ 2m ⎠ m

c=0 ⇒ α =0

h=0
x
λ 1,2 = ± jω 0
t
() (
x t = Acos ω 0t + ϕ )
STABILITY (NON ASYMPTOTIC)

18
Stability analysis - Case II

2
c ⎛ c ⎞ k
λ 1,2 = − ± ⎜ ⎟ − = −α ± β
2m ⎝ 2m ⎠ m

c>0 ⇒ α >0

k =0 ⇒ β >0 , β = α ⇒ λ1 = 0 , λ 2 = −2α

STABILITY

à the system becomes a 1st order system in the independent variable v = x

à the system is in a neutral equilibrium position

19
Stability analysis - Case III

2
c ⎛ c ⎞ k
λ 1,2 = − ± ⎜ ⎟ − = −α ± β
2m ⎝ 2m ⎠ m

c>0 ⇒ α >0
⎧−α1
k <0 ⇒ β >0 , β > α ⇒ λ 1,2 = ⎨ α1 , α 2 > 0
⎩ α 2

à STATIC (i.e. non oscillating) INSTABILITY

x
−α1t α 2t
()
x t = X 1e + X 2e

t 20
Stability analysis - Case IV

2
c ⎛ c ⎞ k
λ 1,2 = − ± ⎜ ⎟ − = −α ± β
2m ⎝ 2m ⎠ m

c<0 ⇒ α <0
! γ
# 1
h ≥ 1, k > 0 ⇒ β ≥ 0 , β ≤ α ⇒ λ 1,2 = " γ1 , γ 2 > 0
#$ γ 2

à STATIC (i.e. non oscillating) INSTABILITY

x
γt γ 2t
()
x t = X 1e 1 + X 2e

t 21
Stability analysis - Case V

2
c ⎛ c ⎞ k
λ 1,2 = − ± ⎜ ⎟ − = −α ± β
2m ⎝ 2m ⎠ m

c<0 ⇒ α <0

h < 1, k > 0 ⇒ β < 0 ⇒ λ 1,2 = α ± jω

à DYNAMIC (i.e. oscillating) INSTABILITY

x
αt
() (
x t = e Acos ω t + ϕ )
t

22
Stability analysis - Case VI

2
c ⎛ c ⎞ k
λ 1,2 = − ± ⎜ ⎟ − = −α ± β
2m ⎝ 2m ⎠ m

c<0 ⇒ α <0
# γ
% 1
k <0 ⇒ β >0, β > α ⇒ λ 1,2 = $ γ1 , γ 2 > 0
%& −γ 2

à STATIC (i.e. non oscillating) INSTABILITY

x
γt γ 2t
()
x t = X 1e 1 + X 2e

23
t
Concluding remarks

The two solutions λ1,2 can be:

§  complex conjugate
§  both real

In the first case, the response is oscillating. The real part of the solutions λ1,2 can be:
§  zero λ1,2 = ± jω à stability (non asymptotic)
§  negative λ1,2 = −α ± jω à asymptotic stability
§  positive λ1,2 = α ± jω à dynamic instability

In the second case, the response is non oscillating. The two solutions λ1,2 can be:
§  both negative λ1,2 = −γ 1 , − γ 2 à asymptotic stability
§  at least one positive λ1,2 = γ 1 , − γ 2 à static instability

The system is unstable if at least one of the two solutions λ1,2 has positive real part

The considered single-dof system is unstable in the following cases:

§  c ≥ 0 , k < 0
§  c < 0 24