非 線 性 控 制

Nonlinear Control

林心宇
長庚大學電機工程學系
2011 春
 教 師 資 料
 教師：林心宇
– Office Room: 工學大樓六樓
– Telephone: Ext. 3221
– E-mail: shinylin@mail.cgu.edu.tw
– Office Hour: 2:00 – 4:00 pm, Friday
 教 科 書
• Textbook:
– Jean-Jacques E. Slotine and Weiping Li, Applied N
onlinear Control, Pearson Education Taiwan Ltd.,
1991.

• Reference:
– Alberto Isidori, Nonlinear Control Systems, Spring
er-Verlag, 1999.
 課程目標及背景需求
 1. 介紹如何以 Phase Portrait 及 Lyapunov M
ethod 分析非線性系統穩定性及控制器的設
計。
 2. 介紹 Feedback Linearization, Sliding Contr
ol 及 Adaptive Control 等方法。

 背景需求
– Linear System Theory
– Elementary Differential Equations
 評 量 標 準
 作業 (20%)
 正式考試 2 次 ( 各 40%)
 Chapter 1

Introduction
 1.1 Why Nonlinear Control ？

A: To control nonlinear systems.

• Improvement of Existing Control Systems

- Linear control methods rely on the key

assumption of small range operation for the
linear model to be valid.
- Nonlinear controllers may handle the
nonlinearities in large range operation directly,
because the controller is designed for handling
the nonlinear system directly.
• Analysis of hard nonlinearities
-Linear control assumes the system model i
s linearizable.
-Hard nonlinearities: nonlinearities whose
discontinuous nature does not allow linear app
roximation.
-Coulomb friction, saturation, dead-zones,
backlash, and hysteresis.
• Dealing with Model Uncertainties
- In designing linear controllers, we assume that
the parameters of the system model are
reasonably well known.
- In real world, control problems involve
uncertainties in the model parameters.
- The model uncertainties can be tolerated in
nonlinear control, because the uncertainty is
taken into account in the controller design.
• Design Simplicity

-Good nonlinear controller designs may be

simpler and more intuitive than their linear
counterparts.
-This result comes from the fact that
nonlinear controller designs are often
deeply rooted in the physics of the plants.
-Example: pendulum
1.2 Nonlinear System Behavior
•Nonlinearities
- Inherent (natural) : Coulomb friction
between contacting surfaces.
- Intentional (artificial): adaptive control laws.
- Continuous
- Discontinuous: Hard nonlinearities
(backlash, hysteresis) cannot be locally
approximated by linear function.
•Linear Systems

Linear time-invariant (LTI) control systems, of the

form
x  Ax
with x being a vector of states and A being the
system matrix.
 Properties of LTI systems
• Unique equilibrium point if A is nonsingular
• Stable if all eigenvalues of A have negative r
eal parts, regardless of initial conditions
• General solution can be solved analytically
•Common Nonlinear System Behaviors

I. Multiple Equilibrium Points

Nonlinear systems frequently have more than

one equilibrium point (an equilibrium point is
a point where the system can stay forever
without moving, i.e. a point where x  0 ).
Example 1.2: A first-order system

x   x  x 2

Its linearization around x(t )  is

0

x  x
with solution x(t) = x(0)e － t : general solution
can be solved analytically.
-Unique equilibrium point at x = 0.
-Stable regardless of initial condition.
- Integrating equation dx/( － x + x2)=dt
t
x0 e
x(t )  t
1  x0  x0 e
-Tow equilibrium points, x = 0 and x = 1.
- Qualitative behavior strongly depends on its

initial condition.
Figure 3.1: Responses of the linearized s
ystem (a) and the nonlinear system (b)
Stability of Nonlinear Systems May Depend
on Initial Conditions:

- Motions starting with x0 ＜ 1 converges.

- Motions starting with x0 > 1 diverges.
Properties of LTI Systems:

In the presence of an external input u(t), i. e.,

with x  Ax  Bu

-Principle of superposition.
-Asymptotic stability implied BIBO stability
in the presence of u.
Stability of Nonlinear Systems May Depend
on Input Values:
A bilinear system
x  xu
u  1 , converges.
u  1 , diverges.
II. Limit Cycles

-Oscillations of fixed amplitude and fixed

period without external excitation.

Example 1.3: Van der Pol Equation

mx  2c( x  1) x  kx  0
2

where m, c and k are positive constants.

- A mass-spring-damper system with a
position-dependent damping coefficient
2c (x2-1)
- For large x, 2c (x2-1)>0 : the damper removes
energy from the system - convergent
tendency.
- For small x, 2c (x2-1)<0 : the damper adds
energy to the system - divergent tendency.
-Neither grow unboundedly nor decay to zero.
- Oscillate independent of initial conditions.
 Figure 2.8:Phase portrait of the Van der Pol equation

- Limit cycle (case for m=1, c=1 and k=1)

The trajectories starting from both outside and inside
converge to this curve.
II. Limit Cycles (continued)

-Oscillations of fixed amplitude and fixed

period without external excitation.

Example 1.4:

x  ( x  x  1) x  x  0
2 2
•Common Nonlinear System Behaviors
III. Bifurcations
-As parameters changed, the stability of the
equilibrium point can change.

-critical or bifurcation values :

Values of the parameters at which the
qualitative nature of the system’s motion
changes.
-Topic of bifurcation theory: Quantitative
change of parameters leading to qualitative
change of system properties.
- Undamped Duffing equation

x  Equation
(the damped Duffing x  x is0
3

x  cx   x   x  0
, which may represent a 3
mass-damper-spring system
with a hardening spring).
- As  varies from + to -, one equilibrium point splits into
3 points ( ), as shown in Figure 1.5(a).
xe   ,   , 0
is a critical bifurcation value.

  0
Figure 1.5: (a) a pitchfork bifurcation
(b) a Hopf bifurcation
•Common Nonlinear System Behaviors
IV. Chaos
-The system output is extremely sensitive to
initial conditions.
-Essential feature: the unpredictability of the
system output.
•Simple Nonlinear system
x  0.1x  x  6sin t
5

-Two almost identical initial conditions,

Namely x(0)  2, x (0)  3 , and
x(0)  2.01, x (0)  3.01.
- The two responses are radically different
after some time.
Figure 1.6: Chaotic behavior of a nonlinear
system
 Outlines of this Course
I. Phase plane analysis
II. Lyapunov theory
III. Feedback linearization
IV. Sliding control
VI. Adaptive control