ACS

LECTURE 16
INTRODUCTION TO NON LINEAR
CONTROL SYSTEMS

UNIT 3
 INTRODUCTION TO NON LINEAR
CONTROL SYSTEMS

• Difference Between Linear And Nonlinear Systems

• Physical Non Linearity’s
• Classification Of Non Linearity's
• Characteristics Of Non Linearity's
 DIFFERENCE BETWEEN LINEAR AND
NONLINEAR SYSTEMS
• LINEAR SYSTEM
• Obeys Superposition Principle
• Ordinary Differential Equations(closed Form
Of Solution Ode)
• Stability depends on system parameters only
• Output frequency is same as input frequency
• NONLINEAR SYSTEM
• Does Not Obey Superposition Principle
• Approximate solution /qualitative solution(does
not have closed form of solution)
• Stability depends upon initial conditions, inputs
and system parameters
• Output frequency may not be same as input but
may also contain additional frequency
components
 PHYSICAL NON LINEARITY’S

• FRICTION
• INERTIA
• STIFFNESS
• BACKLASH
• HYSTERSIS
• SATURATION
• DEAD ZONE
 CLASSIFICATION OF NON LINEARITIES
• 1.INHERENT AND INTENTIONAL
• EX : SATURATION IN MAGNETS, BACKLASH IN GEARS
• DIFFERENT TYPES OF RELAYS

• 2.STATIC AND DYNAMIC

• 3.FUNCTIONAL AND PIECEWISE LINEAR

EXAMPLES
 CHARACTERISTICS OF NON LINEAR SYSTEM
• 1.JUMP RESONANCE
• 2.SUBHARMONIC OSCILLATION
• 3.LIMIT CYCLES
• 4.FREQUENCY ENTRAINMENT
• 5.ASYNCHRONOUS QUENCHING
 CHARACTERISTICS OF NONLINEAR SYSTEMS

• Output Depends On Magnitude And Type Of Input Signal

• Frequency amplitude dependence

• Opposing force due to nonlinear spring

• positive for hard spring
• Negative for soft spring
• Nonlinear differential equation is called doffing’s equation
 2.SUBHARMONIC OSCILLATION
• When nonlinear system excited by a sinusoidal signal ,then the ouput
response has steady state oscillations whose frequency is an integral
submultiple of forcing frequency. This oscillations are called
subharmonic oscillations.
3.LIMIT CYCLES
 4.FREQUENCY ENTRAINMENT

• It Observed In The Frequency Response Of Nonlinear System That Exhibits Limit Cycles. If A
Periodic
• Input Frequency Is Applied To The System
• Then Beats Is Observed.
• Linear System Beat Frequency Decreases
• Nonlinear System Entrained By Forcing
• Frequency With A Band Of Frequency
 5.ASYNCHRONOUS QUENCHING

• IT IS POSSIBLE TO QUENCH OR STOP THE LIMIT CYCLES OSCILLATION BY

FORCING THE SYSTEM OF A FREQUENCY
• SIGNAL STABILIZATION OR ASYNCHRONOUS QUENCHING.
 DESCRIBING FUNCTION ANALYSIS

• Predict The Limit Cycles, predicting Subharmonics ,Jump Resonance ,Response Of Nonlinear
Systems To Sinusoidal Inputs.
• Basic Assumptions
• 1.There Is Only A Single Nonlinear Component
• 2. The Nonlinear Component Is Time Invariant
• 3.Corresponding To A Sinusoidal Input X= Sin(wt), Only Fundamental Component In The
Ouput Has To Be Considered
• 4.The Nonlinearity Is Odd
• The describing function method is used for finding out the stability of a non linear
system of all the analytical methods developed over the years for non linear control
systems, this method is generally agreed upon as being the most practically useful.
This method is basically an approximate extension of frequency response methods
including nyquist stability criterion to non linear system.
• The describing function method of a non linear system is defined to be the complex
ratio of amplitudes and phase angle between fundamental harmonic components of
output to input sinusoid. We can also called sinusoidal describing function.
Mathematically,
DESCRIBING FUNCTION METHOD FOR DEAD
ZONE
• DEAD ZONE
DESCRIBING FUNCTION METHOD FOR DEAD
ZONE
DESCRIBING FUNCTION METHOD FOR DEAD
ZONE AND SATURATION
• DEAD ZONE AND SATURATION
 DESCRIBING FUNCTION ANALYSIS
• EXISTENCE OF LIMIT CYCLES
A curve passing through the point (-1,0) in the complex plane indicates the
existence of limit cycle, A (Amplitude) w(frequency)
• STABILITY OF LIMIT CYCLES