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Lecture 10

The document discusses the process of developing linear models from non-linear relationships in systems dynamics and control. It outlines the linearization procedure, which involves determining an operating point, rewriting terms, and applying Taylor-series expansion to approximate non-linear functions. Several examples illustrate how to derive linearized models from specific non-linear equations.

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3 views

Lecture 10

The document discusses the process of developing linear models from non-linear relationships in systems dynamics and control. It outlines the linearization procedure, which involves determining an operating point, rewriting terms, and applying Taylor-series expansion to approximate non-linear functions. Several examples illustrate how to derive linearized models from specific non-linear equations.

Uploaded by

ssarahalsayedd
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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CSE 271 – Systems Dynamics and Control

Components

Developing a Linear Model

1
Developing a Linear Model
• In previous lectures, we assumed that all elements are linear

• In some cases, elements could follow non-linear relationships

• Non-linear models are hard to solve analytically

• One way to solve the non-linear model is to approximate the response


using a linear model approximation

• Consider a spring that has non-linear relationship with the applied force
Developing a Linear Model
• Linearization is always carried at a certain operating point

Free or unstretched Length

• Using the operating point, x(t) and f(t) can be written as


x(t ) = x + xˆ (t )
f (t ) = f + fˆ (t )
where x is the nominal value of x and the time-varying term x̂(t )
is the incremental variable corresponding to x 3
Developing a Linear Model
• Using Taylor-series expansion
1 d2 f
f (x ) = f (x ) + (x − x ) + (x − x )2 + ...
df
2
dx x 2! dx x

• For linearization, we neglect all derivatives after the 1st derivative

f (x )  f (x ) + (x − x )
df
dx x
• Let
df
k=
dx x
which is the slope of the tangent
line at x
 f = f + k (x − x ) → f − f = k (x − x )
Let xˆ = x − x , fˆ = f − f
4
 fˆ = kxˆ → Linear
Developing a Linear Model
• Example: Consider a non-linear spring that obeys the relationship
f ( x ) = x x , where x is the elongation of the spring. Find the linearized
element law at each of the operating points x1 = −1, x2 = 0, x3 = 1

• Solution:
− x 2 , x0
f (x ) =  2
x , x0
df − 2 x , x0
k= = =2x for all x
dx x 2 x , x0

 fˆ = kxˆ
 fˆ = 2 x xˆ

5
Developing a Linear Model
• at x1 = −1 → fˆ = 2 xˆ
f − f = 2( x − x )
f + 1 = 2( x + 1) → f = 2 x + 1
at x2 = 0 → fˆ = 0 xˆ → f = 0
at x = 1 → fˆ = 2 xˆ
3

f − f = 2( x − x )
f − 1 = 2( x − 1) → f = 2 x − 1

6
Linearization Procedure
• Starting with a given non-linear model, we need to do the following:

1. Determine the operating point of the model by writing and solving the
appropriate non-linear algebraic equations. Select the proper operating
point value

2. Rewrite all linear terms in the mathematical model as the sum of their
nominal and incremental variables

3. Replace all non-linear terms by the first two terms of their Taylor-series
expansions

4. Using the algebraic equations defining the operating point, cancel the
constant terms in the differential equations, leaving only linear terms
involving incremental variables
7
Linearization Procedure
• Example: Derive a linearized model of the system given below where
the average fa(t) is zero

• Solution:

Mx + Bx + f k ( x ) = f a (t ) (1)

8
Linearization Procedure
• We always choose the operating point when the system is at
equilibrium

• Equilibrium happens at the nominal (average) value of fa(t)


f a (t ) = 0 and x = x

• At equilibrium,
Mx + Bx + f k ( x ) = f a = 0 (2)

• Since x is a constant, therefore x = x = 0

• By substituting in (2), f k ( x ) = f k = 0

• The operating point is then at f k = 0 which from the given non-linear


relationship means that x = 0
9
Linearization Procedure
• Since xˆ = x − x , fˆa (t ) = f a (t ) − f a

• Substituting in (1)

( ) ( )
M x + xˆ + B x + xˆ + f k ( x ) = fˆa (t ) + f a
 Mxˆ + Bxˆ + f k ( x ) = fˆa (t ) (3)

 f k (x ) = f k (x ) +
df k
xˆ
dx x
= f k (0 ) + k (0 )xˆ
= k (0 )xˆ

• Substituting in (3)
Mxˆ + Bxˆ + k (0 )xˆ = fˆa (t )

which is a linear model since all coefficients are constants 10


Linearization Procedure
• This can be put in state-variable form by defining

vˆ = v − v
 xˆ = vˆ

( )
vˆ = 1 − k (0 )xˆ − Bvˆ + fˆ (t )
M
a

11
Linearization Procedure
• Example: Repeat the previous problem if fa(t) is given by

• Solution:
Mx + Bx + f k ( x ) = f a (t ) (1)

• Equilibrium happens at the nominal (average) value of fa(t) = f a

12
Linearization Procedure
• At equilibrium,
Mx + Bx + f k ( x ) = f a (2)

• Since x is a constant, therefore x = x = 0

• By substituting in (2), f k ( x ) = f a

• The operating point is then at f k = f a and x

• Since xˆ = x − x , fˆa (t ) = f a (t ) − f a

• Substituting in (1)

( ) ( )
M x + xˆ + B x + xˆ + f k ( x ) = fˆa (t ) + f a
 Mxˆ + Bxˆ + f k ( x ) = fˆa (t ) + f a (3) 13
Linearization Procedure
• Since

f k (x ) = f k (x ) +
df k
xˆ
dx x
 f k (x ) = f a
 f k ( x ) = f a + k ( x )xˆ
• By substituting in (3)

Mxˆ + Bxˆ + f a + k ( x )xˆ = fˆa (t ) + f a


 Mxˆ + Bxˆ + k ( x )xˆ = fˆa (t )

14
More Examples

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