Linearization of Nonlinear Systems: Dr. Radhakant Padhi

Lecture 17
Linearization of Nonlinear Systems
Dr. Radhakant Padhi

Asst. Professor
Dept. of Aerospace Engineering
Indian Institute of Science - Bangalore
Problem statement
Problem: Given a nonlinear system
X = f ( X ,U )
Derive an approximate linear system
X = AX + BU
about an "Operating Point" ( X 0 , U 0 )
Note: An operating point is a point through
which the system trajectory passes.
ADVANCED CONTROL SYSTEM DESIGN 2
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Linearization:
Scalar homogeneous systems
Scalar system: x = f ( x), x R
Operating point: x0
Define: x = x0 + x
Taylor series: HOT
( ) +

2
x
x0 + x = f ( x0 + x) = f ( x0 ) + f ( x) x + f ( x) x
x0

0
2!
Neglecting HOT, x0 + x f ( x0 ) + f ( x0 )x
Linearization:
Scalar homogeneous systems
x0 satisfies the differential equation x0 = f ( x0 )
This leads to x = [ f ( x0 )] x = a x
For convenience, redefine x x
This leads to x = ax
where a = f ( x )

Example 1
Linearize: x = x 2 1, x(0) = 1
df
Solution: a1 = = 2 x0 |x0 =1 = 2
dx x0 =1
df
a2 = |x0 =1 = 2 x0 |x0 =1 = 2
dx
The linearized system: x = 2x x0 = 1
x = 2 x x0 = 1
Note: As the reference point changes, the
linearized approximation also changes!
Linearization:
General homogeneous systems
Homogeneous System:
X = f (X ) , [ f1 fn ] , [ x1 xn ]
T T
f f2 X x2
f
Taylor Series: f ( X 0 + X ) = f ( X 0 ) + X + HOT
X X 0
f
X 0 + X f (X0) + X f1 f1
X X 0 x x
f 1 n

X X A=
X X 0
X = A X f n f n
x1 xn

Example 2: Van-der Pols Oscillator
(Limit cycle behaviour)
z Equation M x + 2c ( x 2 1) x + k x = 0 {c, k > 0}
z State variables x1 x, x2 x
z State Space Equation

x2
1
x
x = 2c 2 k : Homogeneous nonlinear system
2 ( x1 1) x2 x1
m m
X
F(X )

Example 2: Van-der Pols Oscillator
(Limit cycle behaviour)
x20 = [ 0 0]
T
x10
T
z Operating Point:
z Linearized State Space Equation

0 1
x1 x1
x = 2cx2 ( 2 x1 ) k x
( x1 1)
2c 2
2 x1
X =0 2
X
m m m 0 X
0 1
x1
=
2c
0 x2
m X
A

Linearization: General Systems
System having control input
X = f ( X ,U ) , f , X Rn , U Rm
Reference point: ( X 0 ,U 0 )
Taylor series expansion:
f ( X 0 + X , U 0 + U )
f f
= f ( X 0 ,U 0 ) + X + U + HOT
X ( X 0,U 0 ) U ( X 0 ,U 0 )

Linearization
f f
X 0 + X f ( X 0 , U 0 ) + X + U
X ( X 0,U 0 ) U ( X 0 ,U 0 )
X = A X + B U
Re-define: X X , U U
This leads to X = AX + BU
f1 f1 f1 f1
x u um
xn f 1
f 1 Bnm = =
Ann = = U ( X 0 ,U 0 )
X ( X 0 ,U 0 ) f n f n
f n f n u1 um ( X
0 ,U 0 )
x1 xn ( X
0 ,U 0 )

Example 3: Spinning Body Dynamics
(Satellite dynamics)
I 2 I3 1
Dynamics: 1 = 23 + 1
I1 I1
I 3 I1 1
2 = 31 + 2
I2 I2
I1 I 2 1
3 = 12 + 3
I3 I3
I1 , I 2 , I 3 : MI about principal axes
1 , 2 , 3 : Angular velocities about principal axes
1 , 2 , 3 : Torques about principal axes
Example 3: Spinning Body Dynamics
(Satellite dynamics)
30 = [ 0 0 0]
T
10 2
T
z Operating Point: 0
30 = [ 0 0 0]
T
10 2
T
0
z Linearized State Space Equation (Double Integrator)
1 0 0 0 1 (1/ I1 ) 0 0 1
= 0 0 0 + 0
0 2
2 2 (1/ I 2 )
3 0 0 0 3 0 0 (1/ I3 ) 3
X A X B U

Example 4: Airplane Dynamics,
Six Degree-of-Freedom Nonlinear Model
Ref: Roskam J., Airplane Flight Dynamics and Automatic Controls, 1995
(
U = VR WQ g sin + FAX + FTX / m )
( )
V = WP UR + g sin cos + FAY + FTY / m
W = UQ VP + g cos cos + ( F + F ) / m
AZ TZ
P = c1QR + c2 PQ+c3 ( L A + LT ) +c 4 ( N A + NT )
Q = c5 PR c6 ( P 2 R 2 ) + c7 ( M A + M T )
R = c8 PQ c2QR + c4 ( LA + LT ) + c9 ( N A + NT )
= P + Q sin tan + R cos tan
= Q cos R sin
= ( Q sin + R cos ) sec
X cos sin 0 cos 0 sin 1 0 0 U

Y = sin cos 0 0 1 0 0 cos sin V
Note: h = Z
Z 0 0 1 sin 0 cos 0 sin cos W


Linearization using Small
Perturbation Theory
Perturbation in the variables:
U = U 0 + U V = V0 + V W = W0 + W
P = P0 + P Q = Q0 + Q R = R0 + R
X = X 0 + X Y = Y0 + Y Z = Z 0 + Z
X T = X T0 + X T YT = YT0 + YT ZT = ZT0 + Z
M = M 0 + M N = N 0 + N L = L0 + L
= 0 + = 0 + = 0 +
A = A + A E = E + E R = R + R
0 0 0

Trim Condition for
Straight and Level Flight
z Assume: V0 = P0 = Q0 = R0 = 0 = YT0 = ZT0 = 0
Typically True t
z Select: X T0 , z I0 (i.e. h0 )
z Enforce: U = V = W = P = Q = R = = = zI = 0
z Solve for: U 0 , W0 , X 0 , Y0 , Z 0 , L0 , M 0 , N 0 , 0
z Verify: Y0 = L0 = M 0 = N 0 = 0

Linearization using Small
Perturbation Theory
Reference: R. C. Nelson, Flight Stability and Automatic Control, McGraw-Hill, 1989.
X X X X
X = U + W + E + T
U W E T
Y Y Y Y
Y = V + P + R + R
V P R R
Z Z Z Z Z Z
Z = U + W + W + Q + E + T
U W W Q E T
L L L L L
L = V + P + R + R + A
V P R R A
M M M M M M
M = U + W + W + Q + E + T
U W W Q E T
N N N N N
N = V + P + R + R + A
V P R R A

State Variable Representation of
Longitudinal Dynamics
Reference: R. C. Nelson, Flight Stability and Automatic Control, McGraw-Hill, 1989.
State space form:

X = AX + BU c
XU XW 0 g U
W
ZU ZW U0 0 X =
A= Q
MU + M W ZU M W + M W ZW M Q + MWU 0 0

0 0 1 0

X E X T Uc = E
T
Z E Z T
B=
M + M W Z E M T + M W Z T 1 X 1 X
E XU = , XW = etc.
0 0 m U m W

State Variable Representation
of Lateral Dynamics
State space form: X = AX + BU c
YV YP (U 0 YR ) g cos 0
V
LV * + I XZ NV I
LP + XZ N P
I
LR + XZ N R 0 P
IX IX IX X =
A= R
NV + I XZ LV N P +
I XZ
LP N R +
I XZ
LR 0
IZ IZ IZ

0 1 0 1
0 Y R

L * + I XZ N
L R +
I XZ
N R
A A
A
B=
IX IX
Uc =
N + I XZ L R
N R + XZ L R
I
A IZ A

IZ

0 0

Linearization: Points to remember
z Linearized system is always a local
approximation about the operating point
z As the operating point changes, the linearized
model changes (for the same nonlinear system)
z The usual objective of control design using the
linearized dynamics is deviation minimization
(i.e. regulation)
z Control design based on linearized dynamics
always relies on the philosophy of gain
scheduling (i.e. gain interpolation)

Linearization of Nonlinear Systems: Dr. Radhakant Padhi

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Lecture 17

Linearization of Nonlinear Systems

Dr. Radhakant Padhi

For convenience, redefine x x

ADVANCED CONTROL SYSTEM DESIGN 4

ADVANCED CONTROL SYSTEM DESIGN 6

z Equation M x + 2c ( x 2 1) x + k x = 0 {c, k > 0}

z State Space Equation

ADVANCED CONTROL SYSTEM DESIGN 7

z Linearized State Space Equation

ADVANCED CONTROL SYSTEM DESIGN 8

ADVANCED CONTROL SYSTEM DESIGN 9

ADVANCED CONTROL SYSTEM DESIGN 10

z Linearized State Space Equation (Double Integrator)

ADVANCED CONTROL SYSTEM DESIGN 12

ADVANCED CONTROL SYSTEM DESIGN 13

ADVANCED CONTROL SYSTEM DESIGN 14

ADVANCED CONTROL SYSTEM DESIGN 15

ADVANCED CONTROL SYSTEM DESIGN 16

State space form:

ADVANCED CONTROL SYSTEM DESIGN 17

ADVANCED CONTROL SYSTEM DESIGN 18

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