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TTK4150 Nonlinear Control Systems

Lecture 1
Introduction to nonlinear systems
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The course team
Alexey Pavlov
(me)
Anders Fougner
(teaching assistant)
Bjarne Grimstad
Asgeir Kvam
Hojjat Rahmanpour
Jrgen Syvertsen
Trond Tollefsen
student assistants:
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General Information
Course home page is found at: Its learning
1. log in at https://www.innsida.ntnu.no
2. Choose: My subjects / Mine emner
or
Go to http://www.ntnu.no/lms/itslearning
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Its learning TTK4150
-- Course Information:
Course description, General Information, Lecture Plan
-- Portfolio Assessment
Information about Exercises, Laboratory, Midterm Test
and Exam
-- Students corner
A forum for you to discuss topics in nonlinear control even if
you are not working at the same time in the same place.
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Course Goal:
Build a toolbox for nonlinear control analysis and design, such that
given a control problem* you are able to
make an intelligent choice of method(s) from this toolbox,
weighing the advantages and short-comings of the different
methods.
apply the methods to solve the problem
possibly combine and adapt the methods to fit the given
problem
*For instance: Design a feedback control law that makes the
tool of a robot manipulator follow a desired (time-varying)
trajectory in order to spray paint a car.
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Todays goals
Know what a nonlinear system is
Know examples of some nonlinear systems
Know the basic differences between linear and nonlinear
systems
Recognize the need for new analysis and control design
methods
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Literature
Khalil Chapter 1
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Nonlinear equations of a system
Process/System/Mechanism System equations modelling
ODE PDE
( , , ) x f t x u =
&
( , ) x f t x =
&
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Nonlinear equations of a system
Example: pendulum
!
m
l
sin ml mg k ! ! ! = " "
&& &
1
2
x
x
!
!
=
=
&
1 2
2 1 2
sin
x x
g k
x x x
l ml
=
= ! !
&
&
Newtons law:
( , ) x f t x =
&
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Nonlinear equations of a system
( , , ) x f t x u =
&
( , ) x f t x =
&
Controller design System analysis
( , ) u t x ! =
( , ) x f t x =
%
&
Non-autonomous systems
Autonomous systems (time invariant)
( , ) x f t x =
&
( ) x f x =
&
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Relations to linear systems
( , ) x f t x =
&
Mass-spring-damper system
Linearized system
Not always adequate!
Nonlinear dynamics is richer
than linear
( ) ( ) my k y y dy F t = ! ! + && &
( ) k y y
y
ky
( ) my ky dy F t = ! ! + && &
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Examples of nonlinear systems
Systems with saturation or rate saturation
Saturation may induce oscillations

( )
( )
x Ax Bsat u
u PID x
= +
=
&
u
( ) sat u
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Examples of nonlinear systems
Systems with deadzone
( )
( )
x Ax Bdz u
u PID x
= +
=
&
u
( ) dz u
May be introduced purposefully: DVD player (Philips2004)
lens
0.4 m
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Examples of nonlinear systems
Systems with essential nonlinear models
Electric motors in hybrid cars
Toyota Prius Electric motor model
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Examples of nonlinear systems
Systems with highly complex dynamics
(e.g. weather prediction)
Lorenz attractor
Edward Norton Lorenz, USA
(1917-2008)
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Examples of nonlinear systems
Systems with pushing the limits
Systems operating in extreme conditions
(where nonlinear effects become significant)
Racing motorcycle wobbling
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Examples of nonlinear systems
Systems with complex non-local dynamics
HIV virus dynamics
number of healthy immune cells T
1
T
2
T
v
number of infected, but non-reproducing cells
number of infected and virus-reproducing cells
number of free virus particles
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Nonlinear Systems vs Linear
Linear systems Non-linear systems
Solvable analytically Non-solvable analytically (generally)
Laplace domain analysis
(transfer functions,
Bode plot, Nyquist plot)
No such tools
Separation principle No separation principle
There is a need for new tools for nonlinear systems
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Principle of superposition
For linear ODEs:
Formulation 1:
If input u1 produces output y1, and input u2 produces output y2,
then input u=u1+u2 produces output y=y1+y2
Formulation 2:
The response to several inputs working together is equal to the
sum of the response of that circuit to the inputs working separately
http://www.clarkson.edu/~svoboda/eta/ClickDevice/super.html
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Common nonlinear phenomena:
Multiple isolated equilibrium points
Example: find all equilibrium points of
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Stable periodic solutions
Van der Pol oscillator
m=1,k=1,c = ! /2 =0.1
Common nonlinear phenomena:
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Responses for different x(0)
x(0)=0.2
x(0)=1.0
x(0)=10.0
Frequency and amplitude
independent of initial conditions!
! x
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U=1
U=5
New frequencies
Common nonlinear phenomena:
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Complex invariant sets
Common nonlinear phenomena:
Lorenz system Lorenz attractor
Try the command lorenz in MATLAB!
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Common nonlinear phenomena:
Valve characteristic: f(!)=!
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Step changes of amplitude: r=0.1
r=1.0
r=1.72
Stability can depend on amplitude
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Step responses
r=0.1
r=1.0
r=1.72
Stability properties depend on
reference value!
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Step response r=0.1, with different x(0)
x(0)=0
x(0)=0.15
x(0)=0.3
Stability properties depend on x(0)!
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Common nonlinear phenomena:
Finite escape time
simulate for different initial conditions
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x x = &
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When use nonlinear analysis/design?
Nontrivial question
When you recognize nonlinear phenomena (that cannot be
properly described by a linear model/analysis)
When the nonlinear phenomena are dominating
When the workspace is large
When the nonlinearities are hard