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Non-Linear Control Systems: Recommended Books
Non-Linear Control Systems: Recommended Books
In Nonlinear Controllers:
May handle large range operations directly
(a large workspace), highly accurate for a very large
range of robot speed,
Simple NLC (computed torque controller) can fully
compensate the nonlinear forces in robot motion
Analysis of Hard Nonlinearities
• Supposition in LC: System model is linearizable
• But discontinuous nature of some NLties
(Coulomb friction, saturation, backlash,
hysteresis) does not allow lin. approx called
HNLties. Their effects can’t be derived from
linear methods- they cause undesirable behavior
like instabilities, spurious(bastard) limit cycles
• Their effect must be predicted and compensated,
by using NL methods.
Dealing with model uncertainties
• Supposed: model parameters are well-known
• But many control probs involve uncertainties, may be due
to slow time varying parameters (ambient air pressure
during flying aircraft) or abrupt change of parameter (in
inertial parameter of robot due to grasping new object)
• LC based on inaccurate model parameters may
exhibit performance degradation, even instability
• Nonlinearities can be intentionally introduced in controller
part so that model uncertainties may be tolerated
E.g. Robust and adaptive controllers for this purpose
Design simplicity
• Good NLC designs may be simpler (than their linear
counterparts) as they are deeply rooted in the physics of the
plant.
• E.g. Swinging Pendulum, attached to a hing in vertical plane
• Starting from some arbitrary initial angle, it oscillates, then
stops along vertical. Its beh. could be analyzed by linearizing
the system, but physically its stability has very little to do
with the e-values of some linearized system matrix:
• Actually, total mech energy of the system is progressively
dissipated by various friction forces (e.g at hing) so that the
pendulum comes to rest at a position of min energy
Cost and performance optimality
• LCs may require high quality actuators and
sensors to produce linear behavior in the
specified operation range
• But NLC may permit the use of less expensive
components with NL characteristics
• As the performance optimality, we can cite
bang-bang type controllers which can
produce fast response and are inherently NL.
Nonlinear Control
• Area of automatic control
• Learning techniques of its analysis can
enhance the ability of control engg to deal
with practical control probs effectively
• Provides sharper understanding of real world
viz inherently NL.
• In past computational difficulty associated
with NLC analysis, now computer tech.
• NLC for large range operations ….attracted,
and powerful microprocessors has made
implementation of NLCs simple matter
• Demand of high-speed high-accuracy robots,
high performance aircrafts
• Importance of NLC theory, clear from ever
increasing no. of papers, reports on NLC
research & applications
Nonlinear System Behavior
• Physical systems are inherently NL which are
represented by NL DEqs.
• But if operating range of control system is
small and involved nonlinearities are smooth,
then the control systems may reasonably
approximated by a linearized system whose
dynamics is defined by a set of linear DEqs.
Nonlinearities
• Inherent/natural: come with system’s
hardware and motion, e.g. centripetal forces in
rotational motion, Coulomb friction bet
contacting surfaces. They have undesirable
effects and control systems have to be properly
compensated for them.
• Intentional/artificial NLties: e.g. Adaptive
control laws and bang-bang optimal control
laws
Continuous and discontinuous NLties
Initially v=0
1
1
Thrust u Velocity v
t
0 5 sec 10 sec 0 5 sec 10 sec
• We see that the system settles much faster in response to +ve unit step than it does
to the subsequent –ve unit step, very sluggish behavior
i.e. “apparent damping” coefficient is larger at high speeds than at low speeds.
Now if we use larger step input of amplitude u=10
10
10
Thrust u Velocity v
The settling speed in response to the first step is not 10 times that obtained in
response to the first unit step in previous experiment as it would be in a linear system.
This can again be seen as follows
𝒖=𝟏𝟎
,𝑡h𝑒𝑛 0+|𝑣 𝑠|𝑣 𝑠 =10 , 𝒗 𝒔 =√ 𝟏𝟎=𝟑 . 𝟐
•1-Multiple
Equilibrium Points
NL systems frequently have more than one Eq. point
(where the system can stay forever without moving)
Example: Consider the first order system
Its linearization is
•Integrating
0 0
𝑡 𝑡
If , then state
If , then state
2-Limit Cycles
• systems can display oscillations of fixed amplitude and fixed
NL
period without external excitation called Limit Cycles (self-
excited oscillations)
Example: Van der Pol Equation
The 2nd order NL D.Eq.
Difference
• In NL systems, the amplitude of self-sustained excitation is indep of Ics while
oscillations of marginally stable linear systems has its amplitude determinted by
its Ics
• Marginally stable linear systems are very sensitive to changes in system
parameters (slight change lead to stable convergence or to instability) while limit
cycles are not easily affected by parameter changes.
LIMIT CYCLES can be found in many areas of engineering
𝒙 𝒆
Stable
Stable 0 Unstable
𝜶 No Eq. pt for
Stable
Another kind of bifurcation involves the emergence of limit cycles
• In
this case, a pair of complex conjugate e-values
cross the left-half plane into the right-half plane
• And response of the unstable system diverges to a
limit cycle. Plot for state trajectories ( and ) as is
varied
𝒙
˙ 𝒙 Called
Hopf Bifurcation
Bifurcation value
𝜶
Limit cycle
Stable eq. point
4-CHAOS
3
𝑥 ( 𝑡 ) 2
1
0
-1
-2
-3
5 10 15 20 25 30 35 40 45 50 Time/Sec