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Lecture # 3
Two-Dimensional Systems
Multiple Equilibria
Example 2.2: Tunnel-diode circuit
iL
X
X
R
E
P
P
P
P
P
P
P
P
P
P
L
+ vL
s
CC
i,mA
iC
CC
iR
vC C
vR
1
i=h(v)
0.5
0.5
(a)
0.5
(b)
x1 = vC , x2 = iL
Nonlinear Control Lecture # 3 Two-Dimensional Systems
1 v,V
x 1 = 0.5[h(x1 ) + x2 ]
x 2 = 0.2(x1 1.5x2 + 1.2)
h(x1 ) = 17.76x1 103.79x21 + 229.62x31 226.31x41 + 83.72x51
i
R
1.2
1
0.8
0.6
Q
1
Q1 = (0.063, 0.758)
Q2 = (0.285, 0.61)
Q3 = (0.884, 0.21)
Q
2
0.4
Q
3
0.2
0
0
0.5
f
=
x
3.598
A1 =
0.2
1.82
A2 =
0.2
1.427
A3 =
0.2
0.5
,
0.3
0.5
,
0.3
0.5
,
0.3
1.6
1.4
1.2
1
0.8
Q
1
Q
2
0.6
0.4
0.2
Q
3
0
x
0.2
0.4
0.4
0.2
0.2
0.4
0.6
0.8
1.2
1.4
1.6
x 2 = sin x1 0.3x2
f
=
x
0
1
cos x1 0.3
x2
3
x1
Oscillation
A system oscillates when it has a nontrivial periodic solution
x(t + T ) = x(t), t 0
Linear (Harmonic) Oscillator:
0
z
z =
0
z1 (t) = r0 cos(t + 0 ),
q
r0 = z12 (0) + z22 (0),
Nonlinear Control Lecture # 3 Two-Dimensional Systems
z2 (t) = r0 sin(t + 0 )
1 z2 (0)
0 = tan
z1 (0)
Limit Cycles
Example: Negative Resistance Oscillator
i
iC
i = h(v)
Resistive
Element
iL
(a)
(b)
x 1 = x2
x 2 = x1 h (x1 )x2
There is a unique equilibrium point at the origin
0
1
f
A=
=
x x=0
1 h (0)
2 + h (0) + 1 = 0
h (0) < 0 Unstable Focus or Unstable Node
Energy Analysis:
E = 12 CvC2 + 12 Li2L
vC = x1
1
and iL = h(x1 ) x2
E = 12 C{x21 + [h(x1 ) + x2 ]2 }
E =
=
=
=
E = Cx1 h(x1 )
x 1 = x2
x 2 = x1 + (1 x21 )x2
4
x2
x
1
2
2
(a)
= 0.2
Nonlinear Control Lecture # 3 Two-Dimensional Systems
2
(b)
=1
1
z2
= (z1 z2 + 31 z23 )
z1 =
z2
3
x
10
0
z
0
x
5
5
10
(a)
=5
Nonlinear Control Lecture # 3 Two-Dimensional Systems
0
(b)
x
1
(a)
(b)