UET, Lahore.

Department of Mechatronics and Control Engineering

MCT 522 NonLinear Control Systems

Dr. Ali Raza ali.raza@ymail.com

Lecture # 05 2013.03.12
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Phase Plane Analysis [1, 2]

Phase-plane: The plane having state variables as coordinates Exact Method includes transient response Simple graphical construction methods limited to 2nd order systems with simple inputs Phase-portrait: A family of phase plane trajectories that correspond to various initial conditions.

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Given 1 = f1(x1, x2) x 2 = f2(x1, x2) x the slope of phase trajectories: dx2 f2(x1, x2) = dx1 f1(x1, x2)

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The equilibrium: x i = 0 It implies that the slope of phase trajectories is indeterminate at equilibrium points. It is for the same reason the equilibrium points are sometimes called singular points.

f1(x1eq , x2eq ) = f2(x1eq , x2eq ) = 0 Nonlinear algebraic equations, possible multiple solutions.

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 Phase plane trajectories Stable/unstable equilibrium points Convergence and divergence areas
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Example: A First Order System

= 4x + x3 x Three singular points The arrows denote the direction of motion The slope at a certain point determines the direction

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Construction Methods
The analytical method One way is to use an analytical method. Reader is referred to the text book [2] for further details. One example follows to illustrates the analytical method. The method of isoclines The other method to construct a phase portrait is that of isoclines. An isocline is dened as a locus of points with a given tangent slope. An example is included to illustrate the method

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Construction Methods: The analytical method

Example: Satellite control system The systems can be modeled mathematically as under: = u Where u is the torque provided by the thrusters and is the satellite angle. See the following gures

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Construction Methods: The analytical method (contd.)

The control law to re the thrusters is: u(t) = U, if > 0; U, if < 0.

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Construction Methods: The analytical method (contd.)

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Construction Methods: The method of isoclines

In order to construct a phase plane plot using the method of isoclines, follow the following guidelines. Draw the axis to represent the state variables (x1 and x2) (black lines in the next gure) dx2 dx1 ; (blue lines) Pick several constant x1 or x2 and evaluate dx1 dx2 dx2 dx1 Pick a radial line x2 = x1 and evaluate ; (green line) dx1 dx2 dx2 Make = c (a constant) and solve for x2 = f2(x1) or x1 = f1(x2) dx1 (red line) Start from one pair of selected initial condition and follow the directions indicated by the isoclines drawn in aforementioned steps. Choose dierent initial conditions to draw another line Repeat
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Construction Methods: The method of isoclines (contd.)

The following gure illustrates the steps to construct a phase-plane trajectory using the method of isoclines.
x2
x2 c
x2 0

x2

x1

x1

x2 x1

x1 0

x1 c

(a)
x2
trajectory

(b)
x2

x1

x1

dx2 c dx1

(c)

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(d)

Construction Methods: The method of isoclines (contd.)

Isoclines for a mass-spring system (remember: no damping)

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Construction Methods: The method of isoclines (contd.)

Phase-plane trajectories for van-der-pol system using the method of isoclines

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Phase Portraits: Example

The system dierential equation for a second order nonlinear system is given by: x = (x a)2 + x 3 The state variables are dened as under: x1 = x x2 = x It implies that: x 1 = x2 = f1(x1, x2) x 2 = (x1 a)2 + x23 = f2(x1, x2)
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Phase Portraits: Example (contd.)

Now the equilibrium point xeq : x 1eq = 0 = x2eq 2eq = 0 = (x1eq a)2 + x2eq 3 x It implies that: x1eq = a x2eq = 0 and dx2 (x1 a)2 + x23 = dx1 x2

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Phase Portraits: Example (contd.)

The previous expression can be plotted using the method of isoclines. The results are as follows: @ x2 = 0, @ x1 = a,
dx2 dx1 dx1 dx2 dx2 dx1

= 0; = x2 2

dx2 dx1

3 = 0 @ (x1 a)2 + x3 2 = 0, x2 = (x1 a)

@ x2 = x1 ,

dx2 dx1

2 2 x3 1 +x1 2ax1 +a x1

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Phase Portraits: Example (contd.)

The results are as follows:

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Phase Portraits: Example (contd.)

The computer generated phase-portrait:

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Phase Portraits: Example (contd.)

The closeup:

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Phase plane analysis of linear systems

Next, Lets investigate the stability about the singular (equilibrium) points. Let us linearize the system (using perturbation method) x1 = x1eq + x1 x2 = x2eq + x2 Which implies that: 1 x x 2

f1 x1 f2 x1

f1 x2 f2 x2

eq

x1 x2

= A(xeq )x x

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Phase plane analysis of linear systems (contd.)

The characteristic equation: |I A| = 0 and the solution of linearized system x = et Coming back to the characteristic equation, there can be a number of possible stability cases for its roots.

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Phase plane analysis of linear systems (contd.)

Possible Cases: (also see the subsequent gures) 1, 2 R Stable Node 1, 2 R+ Unstable Node 1, 2 have opposite signs Saddle Point 1, 2 C, Re(i) < 0 Stable Focus 1, 2 C, Re(i) > 0 Unstable Focus 1, 2 C, Re(i) = 0 Center 1 = 0, 2 < 0 Center (Stable) 1 = 0, 2 > 0 Center (Unstable) 1 = 0, 2 = 0 Center
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Phase plane analysis of linear systems (contd.)

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Phase plane analysis of linear systems (contd.)

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Phase plane analysis of nonlinear systems

Local behavior of nonlinear systems: The local behavior of the nonlinear systems can be approximated with the results of linear systems. Limit Cycles: Periodic An isolated closed curve Types: 1. Stable limit cycles 2. Unstable limit cycles 3. Semi-stable limit cycles

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Phase plane analysis of nonlinear systems (contd.)

Limit cycles:

Existence of limit cycles: Poincare Poincare-Bendixson Bendixson

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References
[1] Benito R. Fernandez. Nonlinear control systems: Class notes. UT Austin, 2010. [2] J.J.E. Slotine and W. Li. Applied nonlinear control. Prentice Hall, 1991.

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Questions

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