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Nonlinear Control: EACT-635

This document provides an introduction to nonlinear control systems. It discusses the differences between linear and nonlinear systems, including that nonlinear systems cannot always be solved analytically and do not obey the principle of superposition. The document outlines common types of nonlinearities like saturation, dead zones, backlash, and friction. It also discusses prerequisite knowledge for the course and lists recommended textbooks.

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Mahlet Wondimu
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Download as PPT, PDF, TXT or read online on Scribd
50 views

Nonlinear Control: EACT-635

This document provides an introduction to nonlinear control systems. It discusses the differences between linear and nonlinear systems, including that nonlinear systems cannot always be solved analytically and do not obey the principle of superposition. The document outlines common types of nonlinearities like saturation, dead zones, backlash, and friction. It also discusses prerequisite knowledge for the course and lists recommended textbooks.

Uploaded by

Mahlet Wondimu
Copyright
© © All Rights Reserved
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
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Nonlinear Control

EACT-635

Lecture 1: Introduction
Information
 Instructor: Dr. R. Arun (arun.pathiran@gmail.com)

books:
 J A E Slotine and W Li, “Applied Nonlinear control”,
PHI, 1991.
 M Gopal, Digital Control and State Variable Methods:
Conventional and Intelligent Control Systems, 3rd
Edition, 2009.
 Hasan Khalil, “Nonlinear systems and control”,
Prentice Hall, 2002.
Prerequisite(s)

The working knowledge in differential calculus, linear


algebra, and linear systems/control theory.
Linear systems vs nonlinear systems

Linear systems

Nonlinear systems
Linear systems vs nonlinear systems

Linear systems

Nonlinear systems
Linear systems
 Linear systems are systems that have a certain set of
properties. ic

System
output
input

 Linear systems are very nice objects to study because


of their regularity.
CHARACTERISTICS OF NON-LINEAR SYSTEMS

 Non-linear equations, unlike linear ones, cannot, in general be


solved analytically.
 Powerful mathematical tools like Laplace and Fourier transforms
do not apply to non-linear systems.
 Non-linear systems do not obey principle of superposition. Thus,
they respond quite differently to external inputs and initial
conditions. In other words, the response of a non-linear system to
a particular test signal is no guide to their behavior to other
inputs.
 The stability of non-linear system may depend on initial
conditions.
 Non-linear systems frequently have more than one equilibrium
points (where as linear system has unique equilibrium point).
CHARACTERISTICS OF NON-LINEAR SYSTEMS

 Non-linear system may exhibit limit cycles which are self-


sustained oscillations of fixed amplitude and fixed period (without
external excitation). These oscillations are called limit cycles.

 Non-linear systems with a periodic input may exhibit a periodic


output whose frequency is either a sub harmonic or a harmonic of
the input frequency. For example, an input of frequency of 10Hz
may result in an output of 5Hz for sub-harmonic case or 30Hz for
a harmonic case.

 A non-linear system can display jump resonance, a form of


hysteresis, in its frequency response.
TYPES OF NON-LNEARITIES
SATURATION
 It is the most commonly
encountered nonlinearity in
control system. It is often
associated with amplifiers and
actuators.
 In transistor amplifiers, the output
varies linearly with the input, only
for a small amplitude limits.
 Most of the actuators display
saturation characteristics.
DEAD ZONE
 The dead-zone is the region in which the
output is zero for a given input. When the
input is increased beyond this dead-zone
value, the output will be linear. The region
where the applied voltage has no effect is
called the dead band e.g. sensors, friction
in all components .
 In reality, due to static friction at the motor
shaft, rotation will occur only if the torque
provided by the motor is sufficiently large.
This corresponds to dead zone.
 This phenomenon occurs also in valve
controlled pneumatic and hydraulic
actuators.
BACKLASH
 Backlash nonlinearity commonly occurs in
mechanical components of control systems. In gear
trains, small gap exist between a pair of mating
gears.
 As a result, when the driving gear a smaller angle
than the gap H, the driven gear does not move at all,
which corresponds to the dead zone (OA).
 After the contact is established between the two
gears, the driven gear follows the rotation of the
driving gear in a linear fashion (AB segment).
 When the driving gear rotates in the reverse
direction, by a distance of 2H, the driven gear again
does not move, corresponding to the segment BC.
 After the contact between the two gears is
reestablished, the driven gear linearly follows the
rotation of driving gear in the reverse direction (CD
segment).
FRICTION
 Friction exists in a system, when there is
relative motion between contacting surfaces.
 The different types of friction are viscous
friction, coulomb friction and stiction. The
viscous fiction is linear in nature and the
frictional force is directly proportional to
relative velocity of sliding surfaces.
 The coulomb friction is a drag force which
opposes motion (For eg: drag due to rubbing
contact between brushes and the
commutator).
 Due to interlocking of surface irregularities,
more force is required to move an object
from rest than to maintain it in motion.
Hence, force of stiction is always greater
than that of Coulomb friction.
Nonlinear from linear
 A lot of techniques that are used for nonlinear
systems come from linear systems, because:
 Nonlinear systems can (sometime) be
approximated by linear systems.
 Nonlinear systems can (sometime) be
“transformed” into linear systems.
 The tools are generalized and extended.
Linearization methods

 Analytical linearization
 Graphic linearization
 Harmonic linearization
 Describing function
 Statistical linearization

 Dual describing function

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