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The document discusses the phase plane method, a graphical technique for analyzing nonlinear systems, particularly second-order systems. It explains concepts such as singular points, methods for constructing phase diagrams, and the analysis of equilibrium points in both linear and nonlinear systems. The document also includes examples and methods like the analytical and isocline methods for constructing phase plans.
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0% found this document useful (0 votes)
53 views11 pagesMethod Plan Phase
The document discusses the phase plane method, a graphical technique for analyzing nonlinear systems, particularly second-order systems. It explains concepts such as singular points, methods for constructing phase diagrams, and the analysis of equilibrium points in both linear and nonlinear systems. The document also includes examples and methods like the analytical and isocline methods for constructing phase plans.
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ScribdTranslationsCopyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
3.
Phase Plan Method
Introduction: A graphical interpretation is always desirable in order to better
understand and analyze the behavior of a nonlinear system.
The phase plane method is a particular case of the phase space method.
in the case where the space is of dimension 2. It was one of the first techniques
used (H. Poincaré) for the study of solutions of non-linear differential equations
linear.
There are two main reasons why it is useful for the analysis in the plan of
phase. They are:
VGraphical Method: useful for second-order systems and
VExtreme non-linearities: allows for the analysis of saturations, on-off controls, etc.
Concepts: In general, a second-order system can be represented by the equations
of state,
Master I Automatic and Systems S2 2019-2020
If we plot x1(t) vs x2(t), with t as the parameter, the resulting graph is called a
graph of the state plan or trajectory of the state plan.
In the particular case when the first equation is the state plan is called
the phase plane and the graph is called the trajectory of the phase plane.
Example: Determine the phase diagram of the system given by
Solution:
and
If we define x1 = x and x2 = dx / dt, then,
Master I Automatic and Systems S2 2019-2020
Definition: A singular point is an equilibrium point in the phase plane. They are
known as a singular point since x so f1 = f2 = 0 and thus taking the
the quotient f2 / f1 is made singular
Example: Draw the phase diagram of the system given by
If you define x1 = x and x2 = dx / dt, then the equilibrium points are (0, 0) and (-3, 0).
Construction of the phase plan
There are several alternatives for constructing the phase plan. Among them:
(a) analytique, (b) isoclines, (c) delta, (d) Lienard.
Master I Automatic and Systems S2 2019-2020
Analytical method:
In this case, we can use the expressions x1(t) and x2(t), and then eliminate by combining.
x1(t) and x2(t) as illustrated in example 1.4. The other option is to consider that
from which the final expression can be obtained.
Example: Draw the phase diagram of the following system:
Solution: a) if θ>0
The final solution is
Master I Automatics and Systems S2 2019-2020
Similarly, for θ < 0, the solution is
Isocline Method: An isocline is defined as a locus of points having the same
slope. A place of isoclines is defined as:
Therefore, all the points of the state plan that are compliant
have the same slope. This result indicates that, given an α, one can find the
pairs that satisfy such a condition and thus trace the state plan.
Master I Automatic and Systems S2 2019-2020
Example: Let the system given by
If we define then for what
In other words, the regions with the same slope are given by
Analyze in the phase plane of linear systems:
The phase plans of linear systems are interesting because the information
obtained from these systems are extended to nonlinear systems. Let the
second order system,
Master I Automatic and Systems S2 2019-2020
With the CIs consequently, the characteristic polynomial det {sI - A} = 0 is
given Consequently, the eigenvalues are
given by
Two cases can be distinguished in the analysis of eigenvalues, which in turn
peuvent être sous-classifiées.
I. If (0, 0) is the only equilibrium point.
a) Yes ⇒λ1 and λ2 real.
i) If λ1 ≤ λ2 < 0 → (0, 0) is a stable node.
(ii) If λ1 ≥ λ2 > 0 → (0, 0) is an unstable node.
iii) If λ1 > 0 > λ2 → (0, 0) is a saddle point.
Master I Automatic and Systems S2 2019-2020
b) Yes ⇒λ1 and λ2 are complex.
iv) Ifℜe {λ1} = ℜe {λ2} = 0 → (0, 0) is a central point.
v) Ifℜe {λ1} =ℜe {λ2} <0 → (0, 0) is a stable focus.
ifℜe {λ1} = ℜ(0, 0) is an unstable focus.
II. If So there are infinitely many equilibrium points.
(0, 0) is stable if λ1 = 0 and λ2 < 0.
(viii) If λ1 = 0, λ2 > 0 → (0, 0) is unstable.
If λ1 = λ2 = 0, a12a21 ≠ 0 → (0, 0) is unstable.
x) If λ1 = λ2 = 0, aij = 0,∀ i, j → (0, 0) is unstable.
Master I Automatic and Systems S2 2019-2020
Analysis in the phase plane of nonlinear systems
If the functions are continuously differentiable around
From an equilibrium point, the behavior around this point is intimately related to the
behavior of the linearized system around this operating point. Behavior
local of nonlinear systems. It is based on the linearization of the system around the point
equilibrium in order to then use the conclusions drawn from linear systems for the
characterize. Thus, if x or a point of equilibrium, f1 and f2 continuous differential functions
in the neighborhood of (x10, x20), then the state vector can be defined as x = xo + ∆x,
so the linearization of the system is, , where,
Example: Classify the equilibrium points of the system given by
Clearly, the equilibrium points are (0, 0) and (1, 1). When linearizing around (0, 0),
we obtain that,
Master I Automatic and Systems S2 2019-2020
So the eigenvalues are 1 and -1. Therefore, the point (0, 0) in the linear system is a
saddle point and therefore (0, 0) is a saddle point in the nonlinear system. On the other hand,
by linearizing around (1, 1) we obtain this, ...
So the eigenvalues are ± j. Thus the point (0, 0) in the linear system is a point
central and thus the (1, 1) should be a central point in the nonlinear system.
Unfortunately, we see the position of the eigenvalues on the imaginary axis affected by
the terms not taken into account during linearization. Therefore, nothing can be
conclusion of the nonlinear system in this case.
Master I Automatic and Systems S2 2019-2020
Simulation of the exothermic reactor. The line
continue is the SNL and the discontinuous line is
the system is linearized.
