Ky

ril
lo
sR
ef
a at
 Examples
Ky
−

ril
lo
sR
ef
a at
 aat
ef
sR
lo
https://youtu.be/DfVxrCJkdbw
ril
https://bit.ly/365yYOR
Ky
 Linearization

Case 1:  =

a at
 Taylor series expansion at operating point,

ef
− −

sR
= + + +⋯
! !

lo
 For small excursions of from , ≈ , we can
neglect higher-order terms.
ril
Ky
≈ + − = +
 Example 1
 Consider the nonlinear system model given as:

at
̇ = + +

a
̇ = + +

ef
a) Find a linearized model at the equilibrium point = = and

sR
b) Check the system stability of the linearized model.

 =  =

lo
 ril =  =
̇ = + +
Ky
̇ = + +
  =
= +
 =

at
 = −

a
 = | = =

ef
= +

sR
=
=

lo
=
= ril =
=
Ky
= + =
̇ = ̇
  =
= +
 =

at
 = −

a
 = | = =

ef
= +

sR
=
=

lo
=
= ril =
=
Ky
= + =
̇ = ̇
 ̇ = + + = ̇ = ̇ =
̇ = + + = ̇ = ̇ =

at
̇ = + = + + =

a
̇ = + = + + = = +

ef
̇
= + =

sR
̇
−

lo
− = − =
−

ril
e characteristic roots (Poles) of the system, Eigen values of A:
Ky
− = − − = = =
 The System is Unstable: 2 Poles in RHS
 Example 2
 Consider the nonlinear system model given as:

at
̇ = + + − +

a
̇ = + − . +

ef
a) Find a linearized model at the equilibrium point = = and
b) Check the system stability of the linearized model.

sR
 =  = +

lo
 =
ril  =
̇ = + − +
Ky
̇ = + − . +
  =
= +
 =

at
 = −
 = | = = .

a
ef
sR
=
= +

lo
=
= ril =− . = +
Ky
=
= . − .
̇ = ̇
  = +
= +
 =

at
 = −

a
 = | = + =

ef
= +

sR
= +
=

lo
= +
= ril + =
=
Ky
= +
̇ = ̇
̇ = + − +
̇ = + − . +

at
= + ̇ = ̇ = ≈ . − .

a
= + ̇ = ̇ = + ≈ +

ef
̇ = + + + − +

sR
̇ = . − . + + − . +

lo
̇ = + − +
̇ =− . ril + + . +
̇
Ky
−
= + +
̇ − . .
 ̇ −
= + +
̇ − . .

at
− − −
= − =

a
− . . −

ef
 e characteristic roots of the system, Eigen values of A:

sR
− = − − + . =

lo
= − + . =

=
ril − . = + .
Ky
 The System is Unstable: 2 Poles in RHS
 Example 3
 The simple pendulum system show below:

a at
ef
sR
lo
ril
Ky
a) Find the nonlinear differential equations of the system model.
b) Obtain the linearized state space model.
 a at
ef
sR
lo
+ =
ril
 The pendulum’s equilibrium point: the
Ky
vertical position with zero angular velocity.
= , ̇ =
 + = ⇒ + =

at
 =  ̇ = ̇ =

a
= ̇ ̇ = ̈ =−

ef
  +

sR
̇ =− +

lo
 = ril  = ⇒ =  ̇ = ⇒ =
̇ =
Ky
̇ =− +
  =
= +
 =

at
 = −
 = | = =

a
ef
=

sR
= + = +
= =

lo
= =
ril = = +
= + = = =
Ky
̇ = ̇ ̇ = ̇
̇ =
̇ =− +

at
= ̇ = ̇ = ≈

a
ef
= ̇ = ̇

sR
̇ =
̇ =− +

lo
= =

̇
ril = = +
Ky
= + =
̇ −
 a at
ef
sR
lo
+ + =
ril
 The pendulum’s equilibrium point: the
Ky
vertical position with zero angular velocity.
= , ̇ =
 ++ + = ⇒ ++ + =

at
 =  ̇ = ̇ =

a
= ̇ ̇ = ̈ =−

ef
  − +

sR
̇ =− − +

lo
 = ril  = ⇒ =  ̇ = ⇒ =
̇ =
Ky
̇ =− − +
  =
= +
 =

at
 = −
 = | = =

a
ef
=

sR
= + = +
= =

lo
= =
ril = = +
= + = = =
Ky
̇ = ̇ ̇ = ̇
̇ =
̇ =− − +

at
= ̇ = ̇ = ≈

a
ef
= ̇ = ̇

sR
̇ =
̇ =− − +

lo
= =

̇
ril = = +
Ky
= + =
̇ − −
 Example 4
 The simple pendulum system show below:

a at
ef
sR
lo
ril
Ky
a) Find the nonlinear differential equations of the system model.
b) Obtain the linearized state space model.
 a at
ef
sR
lo
+ + ril =
 The pendulum’s equilibrium point: the
Ky
vertical position with zero angular velocity.
= , ̇ =
̇ =
̇ =− − +

at
= ̇ = ̇ = ≈

a
ef
= ̇ = ̇

sR
̇ =
̇ =− − +

lo
= =

̇
ril = = +
Ky
= + =
̇ − −
 Example 5

at
 Find the state space model representation for the nonlinear system:

a
ef
̈ = + ̇+ ̇ −

sR
lo
ril
Ky
 ̈ = + ̇+ ̇ −

at
 =  ̇ = ̇ =

a
 = ̇  ̇ = ̈ =

ef
+ ̇+ ̇ −

sR
̇ = + + −

lo
 =  ril =
Ky
 , , = +
 Example 6

at
 Find the state space model representation for the nonlinear system:

a
ef
̈+ ̇+ =

sR
lo
ril
Ky
 ̈+ ̇+ =

at
 =  ̇ = ̇ =

a
 = ̇  ̇ = ̈ =−

ef
̇− +

sR
̇ =− − +

lo
 =  ril =
Ky
 , =− −
Ky
ril
lo
sR
ef
a at
Ky
ril
lo
sR
ef
a at
 a at
ef
sR
lo
ril
Ky

Eng./ Kyrillos Refaat 32 12-Dec-19