Chapter1 NLC

EACT633-N ONLIENAR C ONTROL S YSTEM
C HAPTER 1 :: I NTRODUCTION TO N ONLINEAR C ONTROL AND P HASE P LANE A NALYSIS
Dr. Saravanakumar Gurusamy
Associate Professor,
Department of Electrical and Electronics Technology,
FDRE Technical and Vocational Training Institute,
Addis Ababa, Ethiopia
December 15, 2023

C ONTENTS IN THE C HAPTER - I
Contents
Introduction, Classification of Nonlinearities, Singular points, Construction of phase por-
traits, Methods of isoclines, Phase plane analysis of linear systems, Phase plane analysis of
nonlinear systems, Existence of limit cycle
D R .S ARAVANAKUMAR G URUSAMY EACT631 1 / 74

PART I: I NTRODUCTION
1 Introduction to Nonlinear Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2 Why Nonlinear Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
3 Classifications of Nonlinearities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
4 Nonlinear Phenomena . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
5 Nonlinear State Space model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
6 Examples of Nonlinear System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
7 Nonlinear System Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Part I
N ONLINEAR C ONTROL - I NTRODUCTION

M OTIVATION I
▶ A system is called linear if its behavior set satisfies linear superposition laws:
• Additive and Homogeneity
▶ Powerful tools founded based on superposition principle make analyzing the linear systems
simple.
▶ All practical systems posses nonlinear dynamics.
▶ Sometimes it is possible to describe the operation of physical systems by linear model around
its operating points
▶ Linearized system can provide us an approximate behavior of the nonlinear system. But in
analyzing the overall system behavior, often linearized model inadequate or inaccurate.
▶ Linearization is an approximation in the neighborhood of an operating system
• It can only predict local behavior of nonlinear system. (No info regarding nonlocal or
global behavior of system)
▶ Due to richer dynamics of nonlinear systems comparing to the linear ones, there are some
essentially nonlinear phenomena that can take place only in presence of nonlinearity.
▶ Linear systems: can be described by a set of ordinary differential equations and usually the
closed-form expressions for their solutions are derivable.
▶ Nonlinear systems: In general this is not possible
• It is desired to make a prediction of system behavior even in absence of closed-form
solution. This type of analysis is called qualitative analysis.
M OTIVATION II
▶ Despite of linear systems, no tool or methodology in nonlinear system analysis is universally

applicable.
▶ Their analysis requires a wide verity of tools and higher level of mathematic knowledge

W HY N ONLINEAR C ONTROL ? I
▶ 1. Improvement of Existing Control Systems

• Challenge: Linear controllers struggle with wide operational ranges due to unaccounted
nonlinearities.
• Solution: Nonlinear control directly addresses nonlinear behaviors, enhancing performance
across broader ranges.
• Example: Pendulum dynamics: θ̈ + Lg sin(θ) = 0
Nonlinear control mitigates swinging variations across wider angles (θ).
▶ 2. Analysis of Hard Nonlinearities
• Challenge: Linear control assumes linearizability, but certain nonlinearities defy linear
approximation.
• Solution: Nonlinear control effectively manages hard nonlinear behaviors.
• Example: Coulomb Friction: Ff = sign(v) · µ · FN
— Nonlinear control strategies tackle discontinuous friction effects.

W HY N ONLINEAR C ONTROL ? II
▶ 3. Dealing with Model Uncertainties

• - Challenge: Linear controllers require precise parameter knowledge, while real systems
face uncertainties.
• - Solution: Nonlinear strategies adapt to uncertainties by intentionally incorporating
nonlinearities
• Example: Robust and Adaptive Control: u = f (x) + δ
— Nonlinear components (f (x)) compensate for model uncertainties (δ).
▶ 4. Design Simplicity - Surprising Advantage: Nonlinear control designs can be simpler and
more intuitive than linear counterparts, aiding implementation and comprehension.
▶ Example: Van der Pol Oscillator: ẍ − µ(1 − x2 )ẋ + x = 0
— Nonlinear control simplifies stability analysis for complex oscillations.

R EASONS FOR N ONLINEAR C ONTROL T ECHNIQUES
▶ Large Operating Ranges:

• Linear models fail in extensive operating ranges.
• Linearization inadequacies beyond limited ranges.
▶ Inadequate Linear Models:
• Linearizing at certain points results in uncontrollable systems.
• Example: Linearizing a first-order system at x = 0, u = 0 leads to ẋ = 0.
▶ Robustness to Parameter Variations:
• Nonlinear controllers handle uncertainties in parameters effectively.
• Tolerant to significant variations without destabilization.
▶ Simplicity and Physical Insights:
• Nonlinear designs based on the physics of the process.
• Offers simplicity in control strategies compared to complex linear models.

C LASSIFICATION OF N ON - LINEARITIES
C ATEGORIES
Incidental Nonlinearity:
▶ Definition: Incidental nonlinearities arise due to imperfections or external factors and might not
be inherent to the system’s fundamental dynamics.
▶ Examples:
▶ Friction in mechanical systems.
▶ Sensor inaccuracies or noise.
▶ Actuator saturation due to physical limitations.
Inherent Nonlinearity:
▶ Definition: Inherent nonlinearities are inherent to the fundamental dynamics of the system and
arise from the system’s structure or design.
▶ Examples:
▶ Nonlinear pendulum dynamics.
▶ Nonlinear electrical components in circuits.
▶ Complex biological systems.

C LASSIFICATION OF N ON - LINEARITIES
T YPES OF N ONLINEARITIES
1. Memoryless Nonlinearities:
• Relay: Switches between two constant values based on input sign.
• Saturation: Limits output within a specified range.
• Dead Zone: No output until input exceeds a threshold.
2. Dynamic Nonlinearities:(With Memory)
• Hysteresis: Output depends on current and past inputs.
3. Static Nonlinearities:
• Piecewise-linear: Different linear relationships in input ranges.
• Quantization: Discretizes continuous signals into levels.
4. Time-varying Nonlinearities:
• Parameter-varying: Characteristics change with time or variables.
5. Local and Global Nonlinearities:
• Local: Nonlinear behavior in specific regions.
• Global: Nonlinear behavior across the state space.

N ONLINEAR P HENOMENA
▶ Finite escape time

▶ Multiple isolated equilibria
▶ Limit cycles
▶ Chaos
▶ Multiple Modes of behaviour

F INITE ESCAPE TIME :
▶ Finite escape time: The state of an unstable linear system goes to infinity as time approaches
infinity; a nonlinear system’s state, however, can go to infinity in finite time.

F INITE ESCAPE TIME :
Example : Linear System: Imagine a simple linear system described by the equation:
dx
= ax (1)
dt
This linear system has a solution of the form x(t) = Ceat , where C is the initial condition. For a stable
system (a < 0), as time goes to infinity (t → ∞), the state x(t) approaches zero. It never reaches
infinity within finite time.
Example : Nonlinear System: Now, consider a nonlinear system such as the logistic equation:
dx x
= rx(1 − ) (2)
dt K
For r > 0 and 0 < x(0) < K, the solution to this equation exhibits finite escape time. Initially, the
population grows exponentially, but eventually, it reaches the carrying capacity K and stops
growing. In contrast, if the initial population exceeds the carrying capacity, it can crash to extinction
in a finite time due to overuse of resources.

M ULTIPLE ISOLATED EQUILIBRIA :
▶ Multiple isolated equilibria: A linear system can have only one isolated equilibrium point;
thus, it can have only one steady-state operating point that attracts the state of the system
irrespective of the initial state. A nonlinear system can have more than one isolated equilibrium
point. The state may converge to one of several steady-state operating points, depending on the
initial state of the system.

MULTIPLE E QUILIBRIA
Duffing Oscillator: The Duffing equation is given by
d2 x dx
2
+ δ + αx + βx3 = 0 (3)
dt dt
Depending on the values of α and β, this system can have multiple equilibrium points. It can
converge to either of these equilibrium points.
A linear system
dx
= −x
dt
has a single equilibrium point at x = 0, and regardless of the initial condition, the solution
converges to this point.
Nonlinear system given by
dx
= x − x3
dt
This system has three equilibrium points: x = −1, 0, 1.
Depending on the initial conditions, the solution can converge to any of these equilibrium points. For instance, if
x(0) = 0.5, the solution approaches x = 1, while for x(0) = −0.5, it approaches x = −1.

L IMIT CYCLES :
▶ Limit cycles: For a linear time-invariant system to oscillate, it must have a pair of eigenvalues
on the imaginary axis, which is a nonrobust condition that is almost impossible to maintain in
the presence of perturbations. Even if we do so, the amplitude of oscillation will be dependent
on the initial state.

L IMIT C YCLES
Van der Pol Oscillator: The Van der Pol equation is
d2 x dx
2
− µ(1 − x2 ) + x = 0 (4)
dt dt
This nonlinear system exhibits stable oscillations known as limit cycles. Regardless of the initial
conditions, the system tends to settle into a periodic motion with a fixed amplitude and frequency.
This behavior is characteristic of many oscillatory systems in nature.

C HAOS :
▶ Chaos: A nonlinear system can have a more complicated steady-state behavior that is not
equilibrium or periodic oscillation. Some of these chaotic motions exhibit randomness, despite
the deterministic nature of the system.

C HAOS
Atmospheric convection.
The Lorenz equations are given by:
ẋ = σ(y − x)
ẏ = x(ρ − z) − y
ż = xy − βz
Where x, y, and z are state variables, and σ, ρ, and β are parameters.

For certain parameter values, the Lorenz system exhibits chaotic behavior characterized by a
sensitive dependence on initial conditions (often termed the "butterfly effect"). Even with small
variations in initial conditions, the system’s trajectory diverges significantly over time, leading to
seemingly unpredictable behavior and complex, non-repeating patterns known as strange attractors.

M UTIPLE M ODE B EHAVIOUR
▶ Multiple Modes of behaviour: A nonlinear system may exhibit very different forms of
behaviour depending on external parameter values, or may jump from one form of behaviour
to another autonomously. These behaviours cannot be observed in linear systems, where it is
characterized by the eigenvalues of the system matrix A.

M UTIPLE M ODE B EHAVIOUR
▶ The logistic map equation is:
xn+1 = rxn (1 − xn )
Here, xn represents the population at time n and r is the growth rate parameter.
▶ The logistic map exhibits a range of behaviors based on the value of the growth rate parameter
r.
▶ For certain values of r, the system reaches stable fixed points (equilibrium), while for others, it
displays periodic behavior (oscillations).
▶ However, as r increases beyond a certain threshold, the system undergoes bifurcations leading
to chaotic behavior with period-doubling cascades, eventually entering a state of unpredictable
chaos.
▶ This system demonstrates how a simple change in parameter values can lead to transitions
between different modes of behavior, from stable equilibrium to periodic oscillations and
finally chaotic dynamics.

Autonomous and Non-Autonomous system

N ONLINEAR S TATE S PACE MODEL I
Mathematical Notation:
ẋ1 = f1 (t, x1 , . . . , xn , u1 , . . . , up )
ẋ2 = f2 (t, x1 , . . . , xn , u1 , . . . , up )
ẋn = fn (t, x1 , . . . , xn , u1 , . . . , up )
ẋi denotes the derivative of xi with respect to the time variable t, u and x are Input and State
variable, respectively.
       
ẋ1 u1 f1 (t, x, u) x1
ẋ2  u2  f2 (t, x, u) x2 
ẋ =  .  , u =  . , f (t, x, u) =  , x=.
       
..
 ..   ..   .   .. 
ẋn up fn (t, x, u) xn

N ONLINEAR S TATE S PACE MODEL II
ẋ = f (t, x, u)
y = h(t, x, u)
System dynamics in a nonlinear state-space form.
Definition 5.1 (Autonomous System)

A system is considered autonomous or time invariant if the function governing its dynamics, denoted as f (x),
doesn’t explicitly depend on time t, i.e ẋ = f (x)
Time-Invariant System:
ẋ = f (x, u)
y = h(x, u)

E QUILIBRIUM P OINT OR S INGULAR P OINT
Definition 5.2 (Equilibrium Point)

For a system described by ẋ = f (x), the equilibrium point x̄ satisfies the condition ẋ = f (x̄) = 0, indicating
that the system’s behavior at this point is stationary.
It is essential for analyzing system stability and long-term behavior, as they represent states of
balance or stability within the system.

E XAMPLES OF N ONLINEAR S YSTEM
Chemical Reactor
q
Ṫ = (Tf − T) + Kr r[Ca] + Kc (T − Tc)
[C˙a ] = q/V([Caf ] − [Ca]) − r[Ca ] V
Where
Where ▶ Ṫ: Rate of change of temperature T over time.
▶ [C˙a ]: Rate of change of the concentration ▶ Tf : Feed temperature.
of species Ca over time.
▶ Kr : Rate const. related to temp and reagent concent.
▶ q: Flow rate or input rate of the chemical
▶ Tc: Ambient temperature.
species.
▶ Kc : Constant related to the temp. diff bet the system and the
▶ V: Volume of the system.
ambient temp.
▶ [Caf ]: Concentration of species Caf .
▶ r[Ca ]: Reaction term dependent on the
concentration of Ca . Kexp(E/RT)

LTI - M ECHANICAL SYSTEM
m
y

N ONLINEAR S YSTEM A NALYSIS
T OOLS FOR THE A NALYSIS
Steps in the Nonlinear system Analysis

1. Theoretical Analysis
2. Simulation guided by theory. Blind simulation give misleading results
3. Perform control design, modify the design if the performance in inadequate using the direction
from analysis methods or tools.
Methods for the Nonlinear System Analysis
1. Phase plane Analysis
2. Lyapunov function method
3. Describing function method

Part II
P HASE P LANE A NALYSIS

PART II: P HASE P LANE A NALYSIS
1 Phase Plane Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
2 Phase Plane Analysis of LTI System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

▶ Phase plane analysis is a graphical method for studying second-order systems

▶ The autonomous system represented by

x˙1 = f1 (x1 , x2 )
x˙1 = f1 (x1 , x2 )
where x1 , x2 : states of the system, f1 , f2 : nonlinear function of states.

▶ the plane has the coordinates of x1 and x2 is known as phase plane
▶ phase plane trajectory is the curve of x1 and x2 when the t varied from 0 → ∞
▶ The nature of the system response corresponding to various initial conditions is directly
displayed on the phase plane
▶ obtaining information regarding the stability of the equilibrium points

A DVANTAGES OF P HASE P LANE A NALYSIS
▶ It is graphical analysis, and the solution trajectories can be represented by curves in a plane
▶ Provides easy visualization of the system qualitative
▶ Without solving the nonlinear equations analytically, one can study
▶ the behavior of the nonlinear system from various initial conditions.
▶ It is not restricted to small or smooth nonlinearities and applies equally well to strong and hard
nonlinearities.
▶ There are lots of practical systems which can be approximated by second-order systems, and
apply phase plane analysis.
▶ Disadvantage of Phase Plane Method:
• It is restricted to at most second-order
• Graphical study of higher-order is computationally and geometrically complex.

C ONCEPT OF P HASE P LANE
▶ Phase plane method is applied to Autonomous Second Order System

x˙1 = f1 (x1 , x2 )
x˙1 = f1 (x1 , x2 )
▶ System response X(t) = (x1 (t), x2 (t)) to initial condition X0 = (x10 , x20 ) is a mapping from real
numbers (time) to R2 )
▶ The solution can be plotted in the x1 − x2 plane called State Plane or Phase Plane
▶ The locus in the x1 − x2 plane is a curved named Trajectory that pass through point X0
▶ The family of the phase plane trajectories corresponding to various initial conditions is called
Phase portrait of the system.
▶ For a single degree of freedom (DOF) mechanical system, the phase plane reduces to the x − ẋ
plane, where x represents position and ẋ denotes velocity.

P LOTTING P HASE P LANE D IAGRAM :
▶ Analytical Method
▶ Numerical Solution Method
▶ Isocline Method
▶ Vector Field Diagram Method
▶ Delta Method
▶ Lienard’s Method
▶ Pell’s Method

A NALYTICAL M ETHOD
Time differential is omitted from dynamic equations of the system, then partial differential equation
is solved
ẋ1 = f1 (x1 , x2 )
ẋ2 = f2 (x1 , x2 )
dx2 f2 (x1 , x2 ) Solve
= −→ F (x1 , x2 ) = 0
dx1 f1 (x1 , x2 )

A NALYTICAL M ETHOD
E XAMPLE - M ASS S PRING S YSTEM
Figure
N UMERICAL S OLUTION M ETHOD
▶ Dynamic equations of the system is solved numerically e.g. Ode45 for various initial conditions
and time response is obtained, then two states are plotted in each time.
Figure
I SOCLINE M ETHOD
▶ Isocline: The set of all points which have same trajectory slope

ẋ1 = f1 (x1 , x2 )
ẋ2 = f2 (x1 , x2 )
dx2 f2 (x1 , x2 )
= = α −→ f2 (x1 , x2 ) = αf1 (x1 , x2 )
dx1 f1 (x1 , x2 )
▶ First various isoclines are plotted, then trajectories are drawn.

I SOCLINE M ETHOD
E XAMPLE - M ASS S PRING S YSTEM
Figure
S INGULAR P OINTS IN THE P HASE P LANE D IAGRAM :
Equilibrium points are in fact singular points in the phase plane diagram

ẋ1 = f1 (x1 , x2 )
ẋ2 = f2 (x1 , x2 )
dx2 f2 (x1 , x2 ) Slope of Traj. at eq. point

= −→ F (dx2 /dx1 ) = 0/0
dx1 f1 (x1 , x2 )
Singular point is an important concept which reveals great info about properties of system such as
stability. Singular points are only points which several trajectories pass/approach them (i.e.
trajectories intersect).

P HASE P LANE A NALYSIS - U SING M ATLAB
PPLANE 8

P HASE P LANE A NLYSIS OF LTI S YSTEM
▶ Powerful Graphical Tool: Provides a powerful graphical tool for studying the behavior of
linear systems. It offers a clear and intuitive understanding of the system dynamics.
▶ Unveiling System Behavior: Provides valuable insights into the behavior of linear systems,
revealing key characteristics such as stability, response time, and sensitivity to parameter
changes. This is crucial for designing and optimizing control systems.
▶ Expanding the Scope: Analysis can be readily extended to higher-order linear systems,
maintaining its effectiveness and providing valuable insights into the behavior of more
complex systems.
▶ Glimpse into Nonlinearity: The analysis offers a valuable tool for understanding the local
behavior of non-linear systems. Using eigenvalues and eigenvectors, infer how the system
behaves near its equilibrium points, providing a foundation for further analysis.
▶ Eigenvalues and Eigenvectors: The Key to Analysis: The analysis is performed based on the
system’s eigenvalues and eigenvectors.

P HASE P LANE
P HASE P LANE A NALYSIS OF LTI S YSTEM
Figure
S INGULAR AND N ONSINGULAR M ATRIX
Nonsingular Matrix (A is nonsingular):

▶ If the matrix A is nonsingular, implying that its determinant is non-zero, the only equilibrium
point of the system is at the origin (0,0).
▶ A nonsingular matrix means it is invertible, and its determinant is nonzero. In this case, the
system possesses only one equilibrium point at the origin (0,0), and it’s the unique solution
where both ẋ = 0 and ẏ = 0 for a second-order system.
Singular Matrix (A is singular):
▶ - If the matrix A is singular (its determinant is zero), the system has an infinite number of
equilibrium points. All points belonging to the null space of A become equilibrium points for
the system.
▶ A singular matrix implies that its determinant is zero, leading to a non-invertible matrix.
▶ For a second-order system, this signifies that all points within the null space of A (Null(A)) are
equilibrium points (Ax = 0).
▶ Any vector x in the null space of A would satisfy Ax = 0 and remain unchanged in the system
dynamics (ẋ = Ax).

A NALYTICAL S OLUTION OF LTI S YSTEM
Analytical solutions for different cases of eigenvalues:

▶ 1. If λ1 , λ2 are real and distinct:
The general solution is of the form:
x(t) = αeλ1 t v1 + βeλ2 t v2
where α and β are constants, and v1 and v2 are the corresponding eigenvectors.
▶ 2. If λ1 , λ2 are real and similar:
The general solution is of the form:
x(t) = (A + Bt)eλt
where A and B are matrices, t is time, and λ is the common eigenvalue.

▶ 3. If λ1 , λ2 are complex conjugate:
The general solution involves trigonometric functions and is expressed as:
x(t) = eαt (A sin(βt) + B cos(βt))
where α and β are derived from the real and imaginary parts of the complex eigenvalues.

T HEOREM : S TABILITY C RITERIA
S TABILITY OF L INEAR P LANAR S YSTEM
Stability Conditions:
▶ The origin of the linear planar system is stable if all eigenvalues λ satisfy Reλ ≤ 0.
▶ The system is unstable if any eigenvalue does not satisfy this condition.
▶ It is asymptotically stable if Reλ1 , Reλ2 < 0.
Characteristic Polynomial:
λ2 − (trA)λ + detA = 0 (5)
where trA = a11 + a22 and detA = a11 a22 − a12 a21 .
Eigenvalues: p
trA ± (trA)2 − 4detA
λ1,2 = (6)
2
Example:
▶ If trA > 0, detA > 0, and ∆ = (trA)2 − 4detA > 0, then the system has two real eigenvalues of
the same sign, indicating an unstable node

P OINCARÉ D IAGRAM
Figure

J ORDAN FORM I
Given a system of linear ordinary differential equations in the form ẋ = Ax, where A is an n × n
matrix, and considering the transformation y = P−1 x, where P is an invertible matrix, the Jordan
form J can be represented as:
J = P−1 AP
where J is a block-diagonal matrix with Jordan blocks Ji along the diagonal.
The Jordan blocks Ji have the form:
 
λi 1 0 ··· 0
.
 0 λi 1 . . . .. 

.. . . . . . .
 
Ji = 
. . . . 0

 
 0 · · · 0 λi 1 
0 ··· 0 0 λi
Where λi represents the eigenvalue associated with the Jordan block Ji . This block is composed of
the eigenvalue on the leading diagonal and 1s on the superdiagonal.
The transformation matrix P is formed by concatenating the eigenvectors associated with each
eigenvalue in the same order as they appear in the Jordan blocks.
To obtain the Jordan form:
1. Compute the eigenvalues λ1 , λ2 , . . . , λn of the matrix A.

J ORDAN FORM II
2. For each eigenvalue λi , find its associated eigenvectors.

3. Arrange these eigenvectors in the matrix P (in the order specified by the associated
eigenvalues).
4. Calculate J = P−1 AP to obtain the Jordan form.

C OMPUTING J ORDAN F ORM I
Consider the matrix:

3 1
A=
0 3
Find the Jordan form J and the transformation matrix P such that J = P−1 AP.
▶ Step 1: Find Eigenvalues
Compute the eigenvalues of matrix A:
The characteristic equation is given by:
det(A − λI) = 0
For matrix A:

3−λ 1
det = (3 − λ)2 = 0
0 3−λ
Solving for λ:
λ1 = λ2 = 3

C OMPUTING J ORDAN F ORM II
▶ Step 2: Find Eigenvectors

Now, let’s find the eigenvectors associated with λ = 3.
For λ = 3, we want to solve (A − 3I)v = 0 to find the eigenvectors.
For A − 3I:

0 1
A − 3I =
0 0

1
This implies that the nullspace of A − 3I (i.e., eigenvectors) is spanned by the vector .
0

1
So, for λ = 3, the eigenvector is v1 = .
0
▶ Step 3: Construct Transformation Matrix P
The matrix P is formed by the eigenvectors associated with each eigenvalue:

1 ?
P=
0 ?

1
Here, we already have the eigenvector v1 = . We can choose another linearly independent
0

0
vector, say v2 = , as λ1 = λ2 .
1

C OMPUTING J ORDAN F ORM III
▶ Step 4: Calculate Jordan Form

Now, calculate J = P−1 AP:

1 0
P=
0 1

1 0
P−1 =
0 1
−1
−1 1 0 3 1 1 0
J=P AP =
0 1 0 3 0 1

3 1
J= =A
0 3
In this specific case, the given matrix A is already in Jordan form, so the Jordan form J is the
same as the original matrix A.

N ON S INGULAR
The A matrix has 2 eigenvalues (either two real, or two complex conjugates) and can have either two
eigenvectors or one eigenvectors.
Four categories can be realized
1. Two distinct real eigenvalues and two real eigenvectors
2. Two complex conjugate eigenvalues and two complex eigenvectors
3. Two similar (real) eigenvalues and two eigenvectors
4. Two similar (real) eigenvalues and one eigenvectors




















S TABILITY A NALYSIS OF H IGHER O RDER S YSTEMS
▶ Analysis of higher-order Linear Time-Invariant (LTI) systems extends concepts from

second-order systems.
▶ Graphical tools are less effective beyond third-order systems, particularly for mechanical
systems with multiple Degrees of Freedom (DOF).
▶ Stability analysis relies on eigenvalue analysis of the matrix A of the LTI system.
▶ For non-singular A:
• Origin is the sole equilibrium point.
• Infinite equilibrium points exist if A is singular (null space of A represents these points).
▶ Detailed stability characterization for non-singular A:
• Exponential stability: All eigenvalues are real and negative or have negative real parts.
• Marginal stability: Eigenvalues have non-positive real parts with specific rank conditions
for repeated imaginary eigenvalues.
• Unstable otherwise.

C HARACTERIZATION OF E QUILIBRIUM P OINTS
▶ Equilibrium point classification for higher-order systems:

• Node or focus behavior based on the signs and characteristics of eigenvalues.
• Center behavior with a pair of pure imaginary eigenvalues while the rest have negative
real parts.
• Saddle behavior with different signs in the real parts of eigenvalues.
▶ Trajectories and behavior:
• Trajectories follow specific eigenvalue patterns.
• Spiral behavior observed with complex conjugate eigenvalues; direction depends on the
sign of their real parts.

V ISUALIZATION IN T HREE D IMENSIONS
▶ Concepts become clearer in three-dimensional cases, especially for systems with multiple DOF.

End of Chapter 1

Chapter1 NLC

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EACT633-N ONLIENAR C ONTROL S YSTEM

C HAPTER 1 :: I NTRODUCTION TO N ONLINEAR C ONTROL AND P HASE P LANE A NALYSIS

Dr. Saravanakumar Gurusamy

December 15, 2023

D R .S ARAVANAKUMAR G URUSAMY EACT631 1 / 74

1 Introduction to Nonlinear Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

2 Why Nonlinear Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

5 Nonlinear State Space model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

6 Examples of Nonlinear System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

7 Nonlinear System Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

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N ONLINEAR C ONTROL - I NTRODUCTION

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▶ Despite of linear systems, no tool or methodology in nonlinear system analysis is universally

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▶ 1. Improvement of Existing Control Systems

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▶ 3. Dealing with Model Uncertainties

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▶ Large Operating Ranges:

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▶ Finite escape time

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Duffing Oscillator: The Duffing equation is given by

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Van der Pol Oscillator: The Van der Pol equation is

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Where x, y, and z are state variables, and σ, ρ, and β are parameters.

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▶ The logistic map equation is:

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Definition 5.1 (Autonomous System)

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Definition 5.2 (Equilibrium Point)

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Steps in the Nonlinear system Analysis

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P HASE P LANE A NALYSIS

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1 Phase Plane Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

2 Phase Plane Analysis of LTI System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

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▶ Phase plane analysis is a graphical method for studying second-order systems

where x1 , x2 : states of the system, f1 , f2 : nonlinear function of states.

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▶ Phase plane method is applied to Autonomous Second Order System

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Consider the matrix: