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FRTN05_Lecture03_annotated

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FRNT05 Nonlinear Control Systems and Servo Systems

Lecture 3: Linearization around a


trajectory, Limit cycles and Stability
definitions
YIANNIS KARAYIANNIDIS, ASSOCIATE PROFESSOR www.yiannis.info
AUTOMATIC CONTROL, FACULTY OF ENGINEERING. [email protected]
Outline
• Linearization around trajectory (general case)
• Limit Cycles
• Definitions of Stability

Material

• Glad& Ljung Ch. 11, 12.1,


( Khalil Ch 2.3, part of 4.1, and 4.3 )
• Lecture slides
Summary of phase portraits and their
equilibriums
Effect of perturbations
Perturbations in

• Structurally stable: the qualitative behavior remains the same under arbitrarily small
perturbations in A
Examples: a node(with distinct eigenvalues), a saddle or a focus

• A stable node with multiple eigenvalues could become a stable node or a stable focus
under arbitrarily small perturbations in A

• A center is not structurally stable


Linearization around an equilibrium point
• Linear approximation of nonlinear systems (Taylor expansion)

Jacobian Hessian
Predicting behaviors close to equilibrium
Linear approximation
Valid when

??? Center
node node
saddle saddle
focus focus
unstable
stable
???
Linearization around a trajectory
Linearization around a trajectory
Linearization around a trajectory
Time-varying Linear Systems
Example:
Time-varying Linear Systems

Stable

Unstable

No conclusion
Periodic solutions and Limit Cycles
• A system oscillates when it has a nontrivial periodic solution:

for some

Example:

The system has a sustained oscillation of amplitude

• Harmonic oscillator LC circuit

⁻ Small perturbation will destroy the oscillation (e.g. resistance)


⁻ The amplitude depends on the initial conditions
Periodic solutions and Limit Cycles
• An isolated closed curve in the phase plane
• Closed: periodic solution
• Isolated: limiting nature of the limit cycle, nearby trajectories
either converge to or diverge from the limit cycle
Stability of limit cycles

• Stable limit cycle: all trajectories in the vicinity of the limit cycle converge to it
• Unstable limit cycle: all trajectories in the vicinity of the limit cycle diverge from it
• Semi-Stable Limit Cycles: some of the trajectories in the vicinity converge to it,
while the others diverge from it
Stability of limit cycles – matching quiz
Stability of limit cycles
(linearization around a trajectory)
• Study the stability of the trajectory
• Change variables
Stability of an equilibrium point

• Use the term “stable (unstable) system” only for linear systems

• A nonlinear system have more than one equilibrium points that each one
can be either stable or unstable

• Unstable equilibrium does not mean unbounded trajectories


Unstable equilibrium does not mean unbounded
trajectories
Local vs Global Stability of Equilibrium
Convergent but not stable
Exponential stability

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