Ch.05 Describing Function Analysis

11/28/2018
Nonlinear Control 1 Describing Function Analysis Nonlinear Control 2 Describing Function Analysis
Chapter Objectives
Introduction to the describing function analysis of nonlinear
systems
• Introduce the basic ideas in the describing function method
• Introduce the typical “hard nonlinearities” in control engineering
• Evaluates the describing functions for these hard nonlinearities
05. Describing Function • Describe how to use the describing function method for the
prediction of limit cycles
Analysis
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
§1.Describing Function Fundamentals §1.Describing Function Fundamentals

1.An Example of Describing Function Analysis The output of the2 nonlinear block
Nonlinear Element (−𝑥ሶ 𝑥 2 ) Linear Element Nonlinear Element (−𝑥ሶ 𝑥 ) Linear Element
Van der Pol equation Quasi-Linear
Linear Element
Approximation
𝑟 = 0 −𝑥
𝑠
𝑤 𝛼 𝑥 𝑥ሷ + 𝛼 𝑥 2 − 1 𝑥ሶ + 𝑥 = 0 (5.1) 𝑟 = 0 −𝑥
𝑠
𝑤 𝛼 𝑥 𝑟 = 0 −𝑥
𝐴2
𝑤 𝛼 𝑥
𝑠
𝑠 2 − 𝛼𝑠 + 1 𝑠 2 − 𝛼𝑠 + 1 4 𝑠 2 − 𝛼𝑠 + 1
(∙) 2 Assume (∙) 2
• there is a limit cycle in the system

• the oscillation signal 𝑥 is in the form of 𝐴3 𝜔
𝑤=− (cos𝜔𝑡 − cos3𝜔𝑡) , contains a 3rd harmonic term
𝑥(𝑡) = 𝐴sin𝜔𝑡, 𝑥ሶ 𝑡 = 𝐴𝜔cos𝜔𝑡 4
Linear block has low-pass properties → reasonably assume that this
where, 𝐴: the limit cycle amplitude, and 𝜔: the frequency
3rd harmonic term is sufficiently attenuated by the linear block
The output of the nonlinear block
This means that 𝑤 can be approximated by the equivalent
𝑤 = −𝑥 2 𝑥ሶ
“quasi-linear” block
= −𝐴2 sin2 𝜔𝑡
𝐴3 𝐴2 𝑑
𝐴3 𝜔 𝑤 ≈ − 𝜔cos𝜔𝑡 = (−𝐴sin𝜔𝑡)
=− (cos𝜔𝑡 − cos3𝜔𝑡) 4 4 𝑑𝑡
4

The “transfer function” of the quasi-linear block depends on the 𝐴2 (𝑗𝜔) 𝛼
1+ =0
signal amplitude 𝐴 , unlike a Quasi-Linear
Linear Element
4 𝑗𝜔 2 − 𝛼 𝑗𝜔 + 1
linear TF (which is independent 𝑟 = 0 −𝑥 Approximation 𝑤 𝑥 Solving this equation, we obtain 𝐴 = 2, 𝜔 = 1
𝐴2 𝛼
of the input magnitude) 𝑠
4 𝑠 2 − 𝛼𝑠 + 1 Note that in terms of the Laplace variable 𝑠, the closed-loop
In 𝑠 domain, this corresponds to characteristic equation of this system is
𝐴2 𝐴2 (𝑗𝜔) 𝛼
𝑤 = 𝑁 𝐴, 𝜔 −𝑥 , 𝑁 𝐴, 𝜔 = (𝑗𝜔) (5.2)
1+ =0 (5.3)
4 4 𝑠 2 − 𝛼𝑠 + 1
→ the nonlinear block can be approximated by the frequency
whose eigenvalues are
response function 𝑁 𝐴, 𝜔
1 1 2 2
Since the system is assumed to contain a sinusoidal oscillation 𝜆1,2 = − 𝛼 𝐴2 − 4 ± 𝛼 𝐴 −4 2−1 (5.4)
8 64
𝑥 ≈ 𝐴sin𝜔𝑡 = 𝐺 𝑗𝜔 𝑤 = 𝐺 𝑗𝜔 𝑁 𝐴, 𝜔 −𝑥
where, 𝐺 𝑗𝜔 is the linear component TF with 𝐴 = 2 → the eigenvalues 𝜆1,2 = ±𝑗 . This indicates the
existence of a limit cycle of amplitude 2 and frequency 1
𝐴2 (𝑗𝜔) 𝛼
This implies that 1 + =0 Note: neither the amplitude nor the frequency obtained above
4 𝑗𝜔 2 − 𝛼 𝑗𝜔 + 1
depends on the parameter 𝛼
1
11/28/2018

In phase plane, the above approximate analysis suggests that
Nonlinear Element (−𝑥ሶ 𝑥 2 ) Linear Element
the limit cycle is a circle of radius 2, regardless of the value of 𝛼 Quasi-Linear
Linear Element
Approximation
If is seen that the above 𝑟 = 0 −𝑥
𝑠
𝑤 𝑥 𝑟 = 0 −𝑥 𝑤 𝑥
𝛼 𝐴2 𝛼
approximation is reasonable for 𝑠 2 − 𝛼𝑠 + 1 4
𝑠
𝑠 2 − 𝛼𝑠 + 1
small value of 𝛼 , but that the (∙)2
inaccuracy grows as 𝛼 increases

This is understandable because as
a grows the nonlinearity becomes Note:
more significant and the quasi- • The critical step is to replace the nonlinear block by the
linear approximation becomes less quasi-linear block which has the frequency response
accurate function 𝐴2 (𝑗𝜔)/4
• The amplitude and frequency of the limit cycle can be
determined from 1 + 𝐺 𝑗𝜔 𝑁 𝐴, 𝜔 = 0
Real limit cycles on the phase plane
𝑁 𝐴, 𝜔 : describing function of the nonlinear element, 𝐺 𝑗𝜔 : linear component TF

2.Applications Domain 2.Applications Domain
Before moving on to the formal treatment of the describing The System Nonlinear Element Linear Element
function method, let us briefly discuss what kind of 𝑟(𝑡) = 0 𝑥(𝑡) 𝑤(𝑡) 𝑦(𝑡)
𝑤 = 𝑓(𝑥) 𝐺(𝑠)
• nonlinear systems it applies to, and
• information it can provide about nonlinear system behavior A nonlinear system
Any system which can be transformed into the above
configuration can be studied using describing functions
There are at least two important classes of systems in this
category, the important class consists of
• “almost” linear systems
• genuinely nonlinear systems

The System Nonlinear Element Linear Element The System Nonlinear Element Linear Element
𝑟(𝑡) = 0 𝑥(𝑡) 𝑤(𝑡) 𝑦(𝑡) 𝑟(𝑡) = 0 𝑥(𝑡) 𝑤(𝑡) 𝑦(𝑡)

𝑤 = 𝑓(𝑥) 𝐺(𝑠) 𝑤 = 𝑓(𝑥) 𝐺(𝑠)
A nonlinear system A nonlinear system

• The first important class consists of “almost” linear systems • The second important class consists of genuinely nonlinear
“almost” linear systems ≡ systems which contain hard systems whose dynamic equations can actually be rearranged
nonlinearities in the control loop but are otherwise linear into the above configuration form
Ex: motor saturation, actuator/sensor dead-zones, Coulomb Ex: Van der Pol problem
friction, hysteresis, …
2
11/28/2018

Applications of Describing Functions Nonlinear Element Linear Element Applications of Describing Functions Nonlinear Element Linear Element
0 𝑥(𝑡) 𝑤(𝑡) 𝑢(𝑡) 𝑦(𝑡) 𝑟(𝑡) = 0 𝑥(𝑡) 𝑤(𝑡) 𝑦(𝑡) 𝑟(𝑡) = 0 𝑥(𝑡) 𝑤(𝑡) 𝑦(𝑡)
𝐺1 (𝑠) 𝐺𝑝 (𝑠) 𝑤 = 𝑓(𝑥) 𝐺(𝑠) 𝑤 = 𝑓(𝑥) 𝐺(𝑠)
𝐺2 (𝑠)
A control system with hard nonlinearity A nonlinear system A control system with hard nonlinearity A nonlinear system
4.64
Describing functions can be conveniently used to discover the Prediction of limit cycles is very important, because limit cycles
existence of limit cycles and determine their stability can occur frequently in physical nonlinear system
The applicability to limit cycle analysis is due to the fact that the Sometimes, a limit cycle can be desirable, for example
form of the signals in a limit-cycling system is usually • limit cycles in the electronic oscillators used in laboratories
approximately sinusoidal
• so-called dither technique which can be used to minimize the
⇒Assume that the signals in the whole system are basically negative effects of Coulomb friction in mechanical systems
sinusoidal in form In most control systems, however, limit cycles are undesirable

2.Applications Domain 3.Basic Assumptions
Applications of Describing Functions Nonlinear Element Linear Element Consider a nonlinear system in the general form
𝑟(𝑡) = 0 𝑥(𝑡) 𝑤(𝑡) 𝑦(𝑡) Nonlinear Element Linear Element
𝑤 = 𝑓(𝑥) 𝐺(𝑠)
𝑟(𝑡) = 0 𝑥(𝑡) 𝑤(𝑡) 𝑦(𝑡)
𝑤 = 𝑓(𝑥) 𝐺(𝑠)
A control system with hard nonlinearity A nonlinear system A nonlinear system

4.64
In most control systems, however, limit cycles are undesirable The system has to satisfy the following four conditions
due to a number of reasons 1.There is only a single nonlinear component
• limit cycle,as a way of instability,tends to cause poor control accuracy 2.The nonlinear component is time-invariant
• the constant oscillation associated with the limit cycles can 3.Corresponding to a sinusoidal input 𝑥 = sin 𝜔𝑡, only the
cause increasing wear or even mechanical failure of the fundamental component 𝑤𝑡 (𝑡) in the output 𝑤(𝑡) has to be
control system hardware considered
• limit cycling may also cause other undesirable effects, such 4.The nonlinearity is odd
as passenger discomfort in an aircraft under autopilot

3.Basic Assumptions 3.Basic Assumptions
1.There is only a single nonlinear component 2.The nonlinear component is time-invariant
Nonlinear Element Linear Element Nonlinear Element Linear Element

𝑤 = 𝑓(𝑥) 𝐺(𝑠) 𝑤 = 𝑓(𝑥) 𝐺(𝑠)
- If there are two or more nonlinear components in a system, - Consider only autonomous nonlinear systems
• one either has to lump them together as a single nonlinearity It is satisfied by many nonlinearities in practice: saturation in
(as can be done with two nonlinearities in parallel), or amplifiers, backlash in gears, Coulomb friction between
• retain only the primary nonlinearity and neglect the others surfaces, hysteresis in relays, …
- The reason for this assumption is that the Nyquist criterion,
on which the describing function method is largely based,
applies only to linear time-invariant systems
3
11/28/2018

3.Basic Assumptions 3.Basic Assumptions
3.Only the fundamental component 𝑤1 (𝑡) in the output 𝑤(𝑡) 4.The nonlinearity is odd: 𝑓(𝑥) is symmetric about the origin
has to be considered Nonlinear Element Linear Element Nonlinear Element Linear Element

𝑤 = 𝑓(𝑥) 𝐺(𝑠) 𝑤 = 𝑓(𝑥) 𝐺(𝑠)
- The fundamental assumption of the describing function method - This assumption is introduced for simplicity, i.e., so that the
- The higher-frequency harmonics can all be neglected in the static term in the Fourier expansion of the output can be
analysis, as compared with the fundamental component neglected
For this assumption to be valid, it is important for the linear element - Note that the common nonlinearities discussed before all
following the nonlinearity to have low-pass properties, i.e., satisfy this assumption
𝐺 𝑗𝜔 ≫ |𝐺(𝑗𝑛𝜔)| for 𝑛 = 2,3, … (5.5) The relaxation of the above assumptions has been widely
- This implies that higher harmonics in the output will be studied in literature, leading to describing function approaches
filtered out significantly. Thus, the third assumption is often for general situations, such as multiple nonlinearities, time-
referred to as the filtering hypothesis varying nonlinearities, or multiple-sinusoids

4.Basic Definitions 4.Basic Definitions
Consider a sinusoidal input to the nonlinear element 𝐴sin𝜔𝑡 Consider a sinusoidal input to the nonlinear element 𝐴sin𝜔𝑡
𝐴sin𝜔𝑡 𝑤(𝑡) 𝐴sin𝜔𝑡 𝑀sin(𝜔𝑡 + 𝜙) 𝐴sin𝜔𝑡 𝑤(𝑡) 𝐴sin𝜔𝑡 𝑀sin(𝜔𝑡 + 𝜙)
𝑁. 𝐿. 𝑁(𝐴, 𝜔) 𝑁. 𝐿. 𝑁(𝐴, 𝜔)
A nonlinear element and its describing function representation A nonlinear element and its describing function representation
The output of the nonlinear component 𝑤(𝑡) 4th assumption: 𝑎0 = 0
2𝜇 3rd assumption: only consider the fundamental component
𝑤 𝑡 = 𝑓 𝐴sin𝜔 𝑡 + = 𝑓 𝐴sin𝜔𝑡
𝜔
𝑤 𝑡 ≈ 𝑤1 𝑡 = 𝑎1 cos𝜔𝑡 + 𝑏1 sin𝜔𝑡 = 𝑀sin(𝜔𝑡 + 𝜙) (5.8)
and can be expanded by using Fourier series
𝑤 𝑡 =
𝑎0
+ σ∞ where, 𝑀 𝐴, 𝜔 = 𝑎12 + 𝑏12 𝜙 𝐴, 𝜔 = arctan(𝑎1 /𝑏1)
2 𝑛=1(𝑎𝑛 cos𝑛𝜔𝑡 + 𝑏𝑛 sin𝑛𝜔𝑡) (5.6)
where, (5.8) indicates that the fundamental component corresponding
1 𝜋 1 𝜋
to a sinusoidal input is a sinusoid at the same frequency
𝑎0 = ‫׬‬−𝜋 𝑤 𝑡 𝑑(𝜔𝑡), 𝑎𝑛 = ‫׬‬−𝜋 𝑤 𝑡 cos(𝑛𝜔𝑡)𝑑(𝜔𝑡) (5.7ab)
𝜋 𝜋
1 𝜋 3th assumption: only the fundamental component 𝑤1(𝑡) in the output 𝑤(𝑡) has to be considered
𝑏𝑛 = ‫𝑤 ׬‬ 𝑡 sin(𝑛𝜔𝑡)𝑑(𝜔𝑡) (5.7c) 4th assumption: 𝑓(𝑥) is symmetric about the origin
𝜋 −𝜋

4.Basic Definitions 5.Computing Describing Functions
Consider a sinusoidal input to the nonlinear element 𝐴sin𝜔𝑡 - A number of methods are available to determine the describing
𝐴sin𝜔𝑡 𝑤(𝑡) 𝐴sin𝜔𝑡 𝑀sin(𝜔𝑡 + 𝜙)
functions of nonlinear elements in control systems, based on
𝑁. 𝐿. 𝑁(𝐴, 𝜔) definition (5.9)
A nonlinear element and its describing function representation - Now briefly describe three such methods: analytical calculation,
Define the describing function of the nonlinear element to be experimental determination, and numerical integration
the complex ratio of the fundamental component of the - Convenience and cost in each particular application determine
nonlinear element by the input sinusoid, i.e., which method should be used
𝑀𝑒𝑗(𝜔𝑡+𝜙) 𝑀 𝑗𝜙 1 - Note that: precision is not critical in evaluating describing
𝑁 𝐴, 𝜔 = = 𝑒 = (𝑏1 + 𝑗𝑎1 ) (5.9) functions of nonlinear elements, because the describing
𝐴𝑒𝑗𝜔𝑡 𝐴 𝐴
function method is itself an approximate method
𝑤1 𝑡 = 𝑎1 cos𝜔𝑡 + 𝑏1 sin𝜔𝑡 = 𝑀sin(𝜔𝑡 + 𝜙) = 𝑀𝑒 𝑗(𝜔𝑡+𝜙) = (𝑏1 + 𝑗𝑎1 )𝑒 𝑗𝜔𝑡

4
11/28/2018

5.Computing Describing Functions 5.Computing Describing Functions
Analytical Calculation Numerical Integration
- When the nonlinear characteristics 𝑤 = 𝑓(𝑥) of the nonlinear - For nonlinearities whose input-output relationship 𝑤 = 𝑓(𝑥) is
element are described by an explicit function and the given by graphs or tables, it is convenient to use numerical
integration in (5.7) can be easily carried out, then analytical integration to evaluate the describing functions
evaluation of the describing function based on (5.7) is desirable - Various numerical integration schemes can be applied for this
- The explicit function 𝑓(𝑥) of the nonlinear element may be an purpose. It is obviously important that the numerical
idealized representation of simple nonlinearities such as integration be easily implementable by computer programs
saturation and dead-zone, or it may be the curve-fit of an - The result is a plot representing the describing function, which
input-output relationship for the element can be used to predict limit cycles based on the method to be
- For nonlinear elements which evade convenient analytical developed in section 5.4
expressions or contain dynamics, the analytical technique is difficult
𝑎0 𝑎0
𝑤 𝑡 = 2
+ σ∞
𝑛=1(𝑎𝑛 cos𝑛𝜔𝑡 + 𝑏𝑛 sin𝑛𝜔𝑡) (5.6) 𝑤 𝑡 = 2
+ σ∞
𝑛=1(𝑎𝑛 cos𝑛𝜔𝑡 + 𝑏𝑛 sin𝑛𝜔𝑡) (5.6)
1 𝜋 1 𝜋 1 𝜋 1 𝜋 1 𝜋 1 𝜋
𝑎0 = 𝜋 ‫׬‬−𝜋 𝑤 𝑡 𝑑(𝜔𝑡), 𝑎𝑛 = 𝜋 ‫׬‬−𝜋 𝑤 𝑡 cos(𝑛𝜔𝑡)𝑑(𝜔𝑡), 𝑏𝑛 = 𝜋 ‫׬‬−𝜋 𝑤 𝑡 sin(𝑛𝜔𝑡)𝑑(𝜔𝑡) (5.7) 𝑎0 = 𝜋 ‫׬‬−𝜋 𝑤 𝑡 𝑑(𝜔𝑡), 𝑎𝑛 = 𝜋 ‫׬‬−𝜋 𝑤 𝑡 cos(𝑛𝜔𝑡)𝑑(𝜔𝑡), 𝑏𝑛 = 𝜋 ‫׬‬−𝜋 𝑤 𝑡 sin(𝑛𝜔𝑡)𝑑(𝜔𝑡) (5.7)

5.Computing Describing Functions 5.Computing Describing Functions
Experimental Evaluation Ex.5.2: Describing function of a hardening spring
- Suitable for complex nonlinearities and dynamic nonlinearities The characteristics of a hardening spring are given by 𝑤 = 𝑥 + 𝑥 3 /2
- When a system nonlinearity can be isolated and excited with Given an input 𝑥 𝑡 = 𝐴sin𝜔𝑡 , the output 𝑤 𝑡 = 𝐴sin𝜔𝑡 +
sinusoidal inputs of known amplitude and frequency, experimental 𝐴3 sin3 𝜔𝑡/2 can be expanded as a Fourier series, with the
determination of the describing function can be obtained by using fundamental being
a harmonic analyzer on the output of the nonlinear element 𝑤1 𝑡 = 𝑎1 cos𝜔𝑡 + 𝑏1 sin𝜔𝑡
- The results of the experiments are a set of curves on complex 𝑤(𝑡) is an odd function
planes representing the describing function 𝑁(𝐴,𝜔), instead of 𝑎1 = 0
analytical expressions
according to (5.7)
𝜋
1 1 3
𝑏1 = න 𝐴sin𝜔𝑡 + 𝐴3 sin3 𝜔𝑡 sin𝜔𝑡𝑑 𝜔𝑡 = 𝐴 + 𝐴3
𝑤 𝑡 =
𝑎0
+ σ∞ 𝜋 2 8
2 𝑛=1(𝑎𝑛 cos𝑛𝜔𝑡 + 𝑏𝑛 sin𝑛𝜔𝑡) (5.6) −𝜋
1 𝜋 1 𝜋 1 𝜋
𝑎0 = ‫)𝑡𝜔(𝑑 𝑡 𝑤 ׬‬, 𝑎𝑛 = 𝜋 ‫׬‬−𝜋 𝑤 𝑡 cos(𝑛𝜔𝑡)𝑑(𝜔𝑡),
𝜋 −𝜋
𝑏𝑛 = 𝜋 ‫׬‬−𝜋 𝑤 𝑡 sin(𝑛𝜔𝑡)𝑑(𝜔𝑡) (5.7)
§1.Describing Function Fundamentals §2.Common Nonlinearities In Control Systems

5.Computing Describing Functions - Consider the typical system block
Ex.5.2: Describing function of a hardening spring 𝑟(𝑡) 𝑦(𝑡)
controller actuator plant
𝑤1 𝑡 = 𝑎1 cos𝜔𝑡 + 𝑏1 sin𝜔𝑡
𝑎1 = 0 sensors
𝜋
1 1 3 Block diagram of control systems
𝑏1 = න 𝐴sin𝜔𝑡 + 𝐴3 sin3 𝜔𝑡 sin𝜔𝑡𝑑 𝜔𝑡 = 𝐴 + 𝐴3 It is composed of four parts
𝜋 2 8
−𝜋
3
• a plant to be controlled
Therefore, the fundamental is 𝑤1 = 𝐴 + 𝐴3 sin𝜔𝑡 • sensors for measurement
8
and the describing function of this nonlinear component is • actuators for control action
3 • a control law, usually implemented on a computer
𝑁 𝐴, 𝜔 = 𝑁 𝐴 = 1 + 𝐴2
8 - Nonlinearities may occur in any part of the system, and thus
Note: due to the odd nature of this nonlinearity, the describing make it a nonlinear control system
function is real, being a function only of the amplitude of
the sinusoidal input
5
11/28/2018
§2.Common Nonlinearities In Control Systems §2.Common Nonlinearities In Control Systems

Continuous and Discontinuous Nonlinearities Saturation
𝑤
- Nonlinearities can be classified as continuous and
discontinuous linear 𝑥
- Discontinuous nonlinearities cannot be locally approximated by saturation
linear functions, they are also called "hard" nonlinearities saturation
- Hard nonlinearities are commonly found in control systems, A saturation nonlinearity

both in small range operation and large range operation - The device is said to be in saturation when
- Whether a system in small range operation should be regarded • the input is small, output is increased when increasing input
as nonlinear or linear depends on the magnitude of the hard
nonlinearities and on the extent of their effects on the system • the input reaches a certain level, its further increase does
produces little or no increase of the output, the output simply
performance
stays around its maximum value
- Because of the common occurence of hard nonlinearities, let us
briefly discuss the characteristics and effects of some important - Ex.: the output torque of a two-phase servo motor cannot
increase infinitely and tends to saturate, due to the properties of
ones
magnetic material
§2.Common Nonlinearities In Control Systems §2.Common Nonlinearities In Control Systems

On-off nonlinearity Backlash and hysteresis
𝑤 output angle
𝐶 𝐵
slope j
𝑥
−𝛿 𝑂 𝐴
𝛿 intput angle
−𝑏 𝑏
dead zone
𝐷 𝐸
A dead-zone nonlinearity Backlash and hysteresis

- The output is zero until the magnitude of the input exceeds a - Backlash occurs by the small gaps which exist in transmission
certain value mechanisms
- Dead-zones decrease static output accuracy, may also lead to - Corresponding to each input, two output values are possible.
limit cycles or system instability because of the lack of Which one of the two occur depends on the history of the input.
response in the dead zone We remark that a similar multi-valued nonlinearity is hysteresis
- Ex.: Consider a D.C. motor: due to the static friction at the - Multi-valued nonlinearities like backlash and hysteresis usually
motor shaft, rotation will occur only if the torque provided by the lead to energy storage in the system
motor is sufficiently large
§3.Describing Functions of Common Nonlinearities §3.Describing Functions of Common Nonlinearities

𝑤 saturation 𝑤(𝑡)
1.Staturation 1.Staturation
𝑘
𝑘𝑎 𝐴 > 𝑎: the input in the saturation range
0 𝑎 𝑥 𝛾 𝜔𝑡 the output is symmetric over the four quarters of a period
𝑘𝑎
In the first quarter
𝑘𝐴sin𝜔𝑡 0 ≤ 𝜔𝑡 ≤ 𝛾
0 𝐴 𝑤(𝑡) = ቊ , 𝛾 = sin−1 𝑎/𝐴
𝛾 𝑥 𝑘𝑎 𝛾 < 𝜔𝑡 ≤ 𝜋/2
𝜋/2
the input 𝑥(𝑡) = 𝐴sin𝜔𝑡 The odd nature of 𝑤(𝑡) implies that 𝑎1 = 0
sinusoidal
input 𝑎: the range of the linearity The symmetry over the four quarters of a period implies that
𝜔𝑡 𝑘: the slope of the linearity 4 𝜋 Τ2
𝑏1 = ‫׬‬0 𝑤 𝑡 sin𝜔𝑡𝑑𝜔𝑡
Saturation nonlinearity and the corresponding input-output relationship 𝜋
4 𝛾 4 𝜋 Τ2
𝐴 ≤ 𝑎: the input remains in the linear range = ‫𝐴𝑘 ׬‬sin2 𝜔𝑡𝑑𝜔𝑡
𝜋 0
+ 2 ‫𝛾׬‬
𝜋
𝑘𝑎sin𝜔𝑡𝑑𝜔𝑡
the output 𝑤(𝑡) = 𝑘𝐴sin𝜔𝑡 2𝑘𝐴 𝑎 𝑎2
= 𝛾+ 1− (5.10)
the describing function is simply a constant 𝑁 𝐴 = 𝑘 𝜋 𝐴 𝐴2
6
11/28/2018

1.Staturation 2.Relay
The describing function As a special case, one can obtain the describing function for
𝑏1 2𝑘 𝑎 𝑎 𝑎2
the relay-type (on-off) nonlinearity
𝑁 𝐴 = = sin−1 + 1− (5.11)
𝐴 𝜋 𝐴 𝐴 𝐴2 𝑤 saturation 𝑤
𝑀 on
𝑁(𝐴)/𝑘 linearity range 𝑘
The normalized describing 1.0
function (𝑁(𝐴)/𝑘) 0.8
0.6
0 𝑎 𝑥 0 𝑥
0.4
0.2 off −𝑀
0 1.0 5.0 10.0 𝐴/𝑎
Describing function of the saturation nonlinearity Relay nonlinearity
Three features for this describing function This case corresponds to shrinking the linearity range in the
saturation function to zero, i.e., 𝑎 → 0, 𝑘 → ∞, but 𝑘𝑎 = 𝑀
1.𝑁(𝐴) = 𝑘 if the input amplitude is in the linearity range
4 𝜋 Τ2 4
2.𝑁(𝐴) decreases as the input amplitude increases 𝑏1 can be obtained directly as 𝑏1 = ‫׬‬0 𝑀sin𝜔𝑡𝑑𝜔𝑡 ≈ 𝑀
𝜋 𝜋
3.there is no phase shift The describing function of the relay 𝑁 𝐴 = 4𝑀/𝜋𝐴 (2.12)

2.Relay 3.Dead-Zone
𝑤(𝑡) sinusoidal input
The normalized describing function ( 𝑁/𝑀 ) is plotted as a 𝐴
Consider the dead-zone characteristics with the
function of input amplitude dead-zone width 2𝛿 and slope 𝑘
𝑤 𝑁(𝐴)/𝑀 to infinity
𝛿 The response corresponding to a
𝑀 on 1.2 𝛾 𝜋/2 𝜋 2𝜋 𝜔𝑡 sinusoidal input 𝑥(𝑡) = 𝐴sin𝜔𝑡 into
1.0 −𝛿
0.8
0.6
a dead-zone is plotted in the output
0 𝑥 −𝐴
0.4
0.2 to zero
Since the characteristics is an odd
off −𝑀
0 1.0 5.0 10.0 𝐴
𝑤(𝑡) output
function, 𝑎1 = 0
𝑘(𝐴 − 𝛿)
The response is also seen to be
Relay nonlinearity and its describing function dead period
symmetric over the four quarters of
When the input is 𝛾 𝜋/2 𝜋 2𝜋 𝜔𝑡
a period
• infinitely small, the describing function is infinitely large −𝑘(𝐴 − 𝛿)
• infinitely large, the describing function is infinitely small Input and output functions for a dead-
zone nonlinearity

3.Dead-Zone 3.Dead-Zone
𝑤(𝑡) sinusoidal input 2𝑘 𝜋 𝛿 𝛿 𝛿2
𝐴
In one quarter of a period, i.e., This leads to 𝑁(𝐴) = − sin−1 − 1− 2
𝜋 2 𝐴 𝐴 𝐴
when 0 < 𝜔𝑡 ≤ 𝜋/2
𝛿 0 0 ≤ 𝜔𝑡 ≤ 𝛾 𝑁(𝐴) is a real function, there is no phase shift (reflecting the
𝑤(𝑡) = ቊ absence of time-delay). The normalized describing function
−𝛿
𝛾 𝜋/2 𝜋 2𝜋 𝜔𝑡 𝑘(𝐴sin𝜔𝑡 − 𝛿) 𝛾 < 𝜔𝑡 ≤ 𝜋/2
𝑁(𝐴)/𝑘
𝛾 = sin−1 𝑎/𝐴 1.0
converging to 1.0
−𝐴
𝜋 Τ2
4
dead zone
0.8
𝑏1 = ‫𝑤 ׬‬ 𝑡 sin𝜔𝑡𝑑𝜔𝑡 0.6
𝑤(𝑡) 𝜋 0 0.4
output
𝑘(𝐴 − 𝛿) 𝜋 Τ2 0.2
4
dead period = න 𝑘 𝐴sin𝜔𝑡 − 𝛿 sin𝜔𝑡𝑑𝜔𝑡 0 1.0 5.0 10.0 𝐴/𝛿
𝛾 𝜋/2 𝜋 2𝜋 𝜔𝑡
𝜋 Describing function of the dead-zone nonlinearity
0
−𝑘(𝐴 − 𝛿) 2𝑘𝐴 𝜋 𝛿 𝛿 𝛿2
𝑁(𝐴)/𝑘 is zero when 𝐴/𝛿 < 1, and increases up to 1 with 𝐴/𝛿
= − sin−1 − 1− This increase indicates that the effect of the dead-zone
𝜋 2 𝐴 𝐴 𝐴2
Input and output functions for a dead-
zone nonlinearity
gradually diminishes as the amplitude of the input signal is
(5.13)
increased, consistently with intuition
7
11/28/2018

4.Backlash 4.Backlash
𝑤(𝑡) 𝑤(𝑡)
𝑘(𝐴 − 𝑏)
3𝜋 Consider a backlash nonlinearity 4𝑘𝑏 𝑏
𝑘 𝑎1 = −1
−𝑏 2 with slope 𝑘 and width 2𝑏 𝜋 𝐴
𝑏 𝑥 𝜋 𝜔𝑡
2 If the input amplitude is 2
−𝑘(𝐴 − 𝑏)
smaller than 𝑏, there is no output 𝐴𝑘 𝜋 2𝑏 2𝑏 2𝑏
𝑏1 = − sin−1 −1 − −1 1− −1
-𝐴 0 𝐴
Let us consider the input being 𝑥(𝑡) = 𝜋 1 𝐴 𝐴 𝐴
𝑥
𝜋/2 𝐴sin𝜔𝑡, 𝐴 > 𝑏 (𝛾 = sin−1 (1 − 2𝑏/𝐴)) The describing function of the backlash is given by
𝜋−𝛾
In one cycle, 𝑤(𝑡) can be represented as 𝑁 𝐴 =
1
𝑎12 + 𝑏12 (5.14a)
3𝜋/2 𝜋 𝐴
𝑤 𝑡 = 𝐴−𝑏 𝑘 < 𝜔𝑡 ≤ 𝜋 − 𝛾
2𝜋 − 𝛾 2 ∠𝑁 𝐴 = tan−1 (𝑎1 /𝑏1) (5.14b)
sinusoidal 3𝜋
input 𝜔𝑡 𝑤 𝑡 = 𝐴sin𝜔𝑡 + 𝑏 𝑘 𝜋 − 𝛾 < 𝜔𝑡 ≤ The interesting points
2
Input and output functions 3𝜋 1. 𝑁 𝐴 = 0 if 𝐴 = 𝑏
for a backlash nonlinearity 𝑤 𝑡 =− 𝐴−𝑏 𝑘 < 𝜔𝑡 ≤ 2𝜋 − 𝛾
2
5𝜋 2.|𝑁(𝐴)| increases, when 𝑏/𝐴 decrease
𝑤 𝑡 = 𝐴sin𝜔𝑡 − 𝑏 𝑘 2𝜋 − 𝛾 < 𝜔𝑡 ≤
2 3.|𝑁 𝐴 | → 1 as 𝑏/𝐴 → 0
Nonlinear Control 45 Describing Function Analysis
§4.Describing Function Analysis of Nonlinear Systems

Refer the textbook
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

Ch.05 Describing Function Analysis

Uploaded by

Document Information

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

Ch.05 Describing Function Analysis

Uploaded by

Copyright:

Available Formats

11/28/2018

§1.Describing Function Fundamentals §1.Describing Function Fundamentals

• there is a limit cycle in the system

§1.Describing Function Fundamentals §1.Describing Function Fundamentals

§1.Describing Function Fundamentals §1.Describing Function Fundamentals

inaccuracy grows as 𝛼 increases

§1.Describing Function Fundamentals §1.Describing Function Fundamentals

§1.Describing Function Fundamentals §1.Describing Function Fundamentals

𝑟(𝑡) = 0 𝑥(𝑡) 𝑤(𝑡) 𝑦(𝑡) 𝑟(𝑡) = 0 𝑥(𝑡) 𝑤(𝑡) 𝑦(𝑡)

A nonlinear system A nonlinear system

§1.Describing Function Fundamentals §1.Describing Function Fundamentals

§1.Describing Function Fundamentals §1.Describing Function Fundamentals

A control system with hard nonlinearity A nonlinear system A nonlinear system

§1.Describing Function Fundamentals §1.Describing Function Fundamentals

𝑟(𝑡) = 0 𝑥(𝑡) 𝑤(𝑡) 𝑦(𝑡) 𝑟(𝑡) = 0 𝑥(𝑡) 𝑤(𝑡) 𝑦(𝑡)

§1.Describing Function Fundamentals §1.Describing Function Fundamentals

𝑟(𝑡) = 0 𝑥(𝑡) 𝑤(𝑡) 𝑦(𝑡) 𝑟(𝑡) = 0 𝑥(𝑡) 𝑤(𝑡) 𝑦(𝑡)

§1.Describing Function Fundamentals §1.Describing Function Fundamentals

§1.Describing Function Fundamentals §1.Describing Function Fundamentals

𝑤1 𝑡 = 𝑎1 cos𝜔𝑡 + 𝑏1 sin𝜔𝑡 = 𝑀sin(𝜔𝑡 + 𝜙) = 𝑀𝑒 𝑗(𝜔𝑡+𝜙) = (𝑏1 + 𝑗𝑎1 )𝑒 𝑗𝜔𝑡

§1.Describing Function Fundamentals §1.Describing Function Fundamentals

§1.Describing Function Fundamentals §1.Describing Function Fundamentals

§1.Describing Function Fundamentals §2.Common Nonlinearities In Control Systems

§2.Common Nonlinearities In Control Systems §2.Common Nonlinearities In Control Systems

- Discontinuous nonlinearities cannot be locally approximated by saturation

linear functions, they are also called "hard" nonlinearities saturation

- Hard nonlinearities are commonly found in control systems, A saturation nonlinearity

§2.Common Nonlinearities In Control Systems §2.Common Nonlinearities In Control Systems

A dead-zone nonlinearity Backlash and hysteresis

§3.Describing Functions of Common Nonlinearities §3.Describing Functions of Common Nonlinearities

§3.Describing Functions of Common Nonlinearities §3.Describing Functions of Common Nonlinearities

§3.Describing Functions of Common Nonlinearities §3.Describing Functions of Common Nonlinearities

§3.Describing Functions of Common Nonlinearities §3.Describing Functions of Common Nonlinearities

§3.Describing Functions of Common Nonlinearities §3.Describing Functions of Common Nonlinearities

Nonlinear Control 45 Describing Function Analysis

§4.Describing Function Analysis of Nonlinear Systems

You might also like