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This document provides an introduction to the course TTK4150 Nonlinear Control Systems. It lists the course team and provides information about the course homepage and structure. It then discusses the goals of introducing nonlinear system concepts and examples. Key differences between linear and nonlinear systems are outlined, such as the lack of superposition and separation principles in nonlinear systems. Common nonlinear phenomena like multiple equilibria, limit cycles, complex invariant sets, and amplitude/state-dependent stability are presented. It concludes with guidelines on when nonlinear analysis and design methods are needed.

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Edgar Huanca
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138 views

Lecture1 PDF

This document provides an introduction to the course TTK4150 Nonlinear Control Systems. It lists the course team and provides information about the course homepage and structure. It then discusses the goals of introducing nonlinear system concepts and examples. Key differences between linear and nonlinear systems are outlined, such as the lack of superposition and separation principles in nonlinear systems. Common nonlinear phenomena like multiple equilibria, limit cycles, complex invariant sets, and amplitude/state-dependent stability are presented. It concludes with guidelines on when nonlinear analysis and design methods are needed.

Uploaded by

Edgar Huanca
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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1

TTK4150 Nonlinear Control Systems


Lecture 1
Introduction to nonlinear systems
2
The course team
Alexey Pavlov
(me)
Anders Fougner
(teaching assistant)
Bjarne Grimstad
Asgeir Kvam
Hojjat Rahmanpour
Jrgen Syvertsen
Trond Tollefsen
student assistants:
3
General Information
Course home page is found at: Its learning
1. log in at https://www.innsida.ntnu.no
2. Choose: My subjects / Mine emner
or
Go to http://www.ntnu.no/lms/itslearning
4
Its learning TTK4150
-- Course Information:
Course description, General Information, Lecture Plan
-- Portfolio Assessment
Information about Exercises, Laboratory, Midterm Test
and Exam
-- Students corner
A forum for you to discuss topics in nonlinear control even if
you are not working at the same time in the same place.
5
Course Goal:
Build a toolbox for nonlinear control analysis and design, such that
given a control problem* you are able to
make an intelligent choice of method(s) from this toolbox,
weighing the advantages and short-comings of the different
methods.
apply the methods to solve the problem
possibly combine and adapt the methods to fit the given
problem
*For instance: Design a feedback control law that makes the
tool of a robot manipulator follow a desired (time-varying)
trajectory in order to spray paint a car.
6
Todays goals
Know what a nonlinear system is
Know examples of some nonlinear systems
Know the basic differences between linear and nonlinear
systems
Recognize the need for new analysis and control design
methods
7
Literature
Khalil Chapter 1
8
Nonlinear equations of a system
Process/System/Mechanism System equations modelling
ODE PDE
( , , ) x f t x u =
&
( , ) x f t x =
&
9
Nonlinear equations of a system
Example: pendulum
!
m
l
sin ml mg k ! ! ! = " "
&& &
1
2
x
x
!
!
=
=
&
1 2
2 1 2
sin
x x
g k
x x x
l ml
=
= ! !
&
&
Newtons law:
( , ) x f t x =
&
10
Nonlinear equations of a system
( , , ) x f t x u =
&
( , ) x f t x =
&
Controller design System analysis
( , ) u t x ! =
( , ) x f t x =
%
&
Non-autonomous systems
Autonomous systems (time invariant)
( , ) x f t x =
&
( ) x f x =
&
11
Relations to linear systems
( , ) x f t x =
&
Mass-spring-damper system
Linearized system
Not always adequate!
Nonlinear dynamics is richer
than linear
( ) ( ) my k y y dy F t = ! ! + && &
( ) k y y
y
ky
( ) my ky dy F t = ! ! + && &
12
Examples of nonlinear systems
Systems with saturation or rate saturation
Saturation may induce oscillations

( )
( )
x Ax Bsat u
u PID x
= +
=
&
u
( ) sat u
13
Examples of nonlinear systems
Systems with deadzone
( )
( )
x Ax Bdz u
u PID x
= +
=
&
u
( ) dz u
May be introduced purposefully: DVD player (Philips2004)
lens
0.4 m
14
Examples of nonlinear systems
Systems with essential nonlinear models
Electric motors in hybrid cars
Toyota Prius Electric motor model
15
Examples of nonlinear systems
Systems with highly complex dynamics
(e.g. weather prediction)
Lorenz attractor
Edward Norton Lorenz, USA
(1917-2008)
16
Examples of nonlinear systems
Systems with pushing the limits
Systems operating in extreme conditions
(where nonlinear effects become significant)
Racing motorcycle wobbling
17
Examples of nonlinear systems
Systems with complex non-local dynamics
HIV virus dynamics
number of healthy immune cells T
1
T
2
T
v
number of infected, but non-reproducing cells
number of infected and virus-reproducing cells
number of free virus particles
18
Nonlinear Systems vs Linear
Linear systems Non-linear systems
Solvable analytically Non-solvable analytically (generally)
Laplace domain analysis
(transfer functions,
Bode plot, Nyquist plot)
No such tools
Separation principle No separation principle
There is a need for new tools for nonlinear systems
19
Principle of superposition
For linear ODEs:
Formulation 1:
If input u1 produces output y1, and input u2 produces output y2,
then input u=u1+u2 produces output y=y1+y2
Formulation 2:
The response to several inputs working together is equal to the
sum of the response of that circuit to the inputs working separately
http://www.clarkson.edu/~svoboda/eta/ClickDevice/super.html
20
Common nonlinear phenomena:
Multiple isolated equilibrium points
Example: find all equilibrium points of
21
Stable periodic solutions
Van der Pol oscillator
m=1,k=1,c = ! /2 =0.1
Common nonlinear phenomena:
22
Responses for different x(0)
x(0)=0.2
x(0)=1.0
x(0)=10.0
Frequency and amplitude
independent of initial conditions!
! x
23
U=1
U=5
New frequencies
Common nonlinear phenomena:
24
Complex invariant sets
Common nonlinear phenomena:
Lorenz system Lorenz attractor
Try the command lorenz in MATLAB!
25
Common nonlinear phenomena:
Valve characteristic: f(!)=!
2
Step changes of amplitude: r=0.1
r=1.0
r=1.72
Stability can depend on amplitude
26
Step responses
r=0.1
r=1.0
r=1.72
Stability properties depend on
reference value!
27
Step response r=0.1, with different x(0)
x(0)=0
x(0)=0.15
x(0)=0.3
Stability properties depend on x(0)!
28
Common nonlinear phenomena:
Finite escape time
simulate for different initial conditions
2
x x = &
29
When use nonlinear analysis/design?
Nontrivial question
When you recognize nonlinear phenomena (that cannot be
properly described by a linear model/analysis)
When the nonlinear phenomena are dominating
When the workspace is large
When the nonlinearities are hard

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