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@. @J
Fig. 3. Fig. 4.
Fig. 1. Fig. 2.
J= dT ap # 0. (11)
On the right-hand side p is taken as a factor in order to d9 a*
take into account the fact that for p = 0 there is always dT dp
a periodic solution. Hence, if p # 0 (i.e., in the nonlinear
case), periodicity is possible only if Hence, if a0 = \EO = 0 and the Jacobian (11) is different
from zero, there exists at least one periodic solution of
a(~, p, P, K) = 0 and \k(~, p, p, K) = 0. (7) the nonlinear problem, small p. The rest of the calculation
is simple but long. One begins by expressing x(t) and
The essential part of the theory is the theorem of y(t) = k(t) in terms of the series of Poincare. Then one
Poincare [9], which states that in the case of a DE con- develops the function f (5, 2) in (1) around the values
taining a parameter p, like (l), the solution is analytic q,(t) and y”(t), which are the so-called ‘(generating solu-
in terms of this parameter (or parameters, if there are tions” for p = 0, and substitutes these series into (1).
several). This means that the solution can be represented Then one arranges the various terms according to the
by an entire series arranged according to the ascending like powers of p. In this way one obtains finally a system
powers of these parameters. of linear DE, which can be integrated successively and
As we have here three parameters, of which p is in- yield the coefficients of the series. These coefficients are
dependent and the other two are p(k) and T(P) such that functions of t.
a(p) ---f 0, T(p) + 0 when p + 0, the functions + and \k The method of Poincare is very general and yields
are of the form successive approximations; in its original form it was
established for astronomical calculations. Later on it was
adapted [II] for other applied problems, but it is still too
complicated because of its generality. Its importance is
in t,hat it opened an entirely new avenue of approach to
For the first approximation, it is sufficient to take only the solution of nonlinear problems.
linear terms in (8). For approximations of higher orders
it is necessary to take more terms in these series. We shall B. Methods of van der Pol and of Krylov-Bogoliubov
limit ourselves to the first approximation. In fact, the These two methods are very close to each other. The
method becomes clear from the first approximation with- idea is to take a simple harmonic solution and to “fit” it
out complicating it too much; moreover, if ELis small, as into the nearly linear equation. For this purpose the
we assume, higher order approximations hardly add any- constant parameters of the harmonic solution are con-
thing of interest but complicate calculations considerably. sidered as function of t subject to the determination by
It is clear that functions ,8(p) and T(p) in the first approxi- a method similar to the classical method of the ‘%ariation
mation can be taken as T(K) = a~ and p(p) = yp where of parameters” in the theory of DE.
CYand y are unknowns. We have thus a system of two The whole difference between the two methods3 is that
algebraic equations, van der Pol takes the harmonic solution in the form,
A sin t + B cos t, while in the Krylov-Bogoliubov method
+ = ay, + ,~(a + bcu+ CY) = 0 this solution is taken in the form, a cos (wt + 4).
(9)
We outline here the Krylov-Bogoliubov method as a
!P = *c, + da, + b,a + KY) = 0
little more convenient to use. The DE in this method is
which are valid in the first approximation and which must considered in the form
be solved for any arbitrary p (provided it is sufficiently z + co22+ pf(z, 2) = 0. (12)
small). It is clear that, in order to determine cy and y
from these equations, the following conditions must be Substituting the solution x = a sin (wt + $J), and im-
fulfilled: posing an additional condition that 2 should be of the
form
2) bcZO. (lob) a Historically, the method of van der Pol is earlier (around
I bl Cl I 1927) than the method of Krylov-Bogoliubov (1937).
1960 Minorsky: Theoretical Aspects of Nonlinear Oscillations 373
one obtains the following DE expressing this condition: point of an auxiliary “stroboscopic” system. We give a
brief outline of this method.
d sin (wt+ 4) + a4 cos (wt + I#J)= 0. (14) Consider a simple problem with a DE: * + x = 0. Its
Replacing X, 2 and 2 (in which differentiations are carried trajectories are circles concentric with the origin. The
out with respect to a and +), one gets the second DE, representative point R, starting from some point R, on
the circle, comes back to this point after the period 2n.
ciw cos y - awc)lsin y + pf(a sin y, aw cos +y) = 0; This defines a transformation effected by the DE during
where the period 2~. Clearly, from the standpoint of the trans-
formation it is immaterial what happens during the time
y = wt + 9. (15) interval 0, 27~; the essential point. is in the result of the
Solving these equations with respect to ci and +J,one finds transformation. This result could be obtained if, instead
that the right-hand side contains the small factor p; this of ‘illuminating motion continuously, one illuminated it
shows that a(t) and 4(t) are slowly varying functions of t. by stroboscopic flashes occurring once during the time 2~.
Hence during the longest period T of the trigonometric In such a case one would see only the fixed point R,.
functions (which appear as the result of the development It is useful to define two planes: 1) the plane (#) in
into a trigonometric series), one can assume that a and which one sees the continuous motion and 2) the strobo-
I$ are constant, thus approximating a trigonometric series scopic plane (4), in which one sees only the stroboscopic
by the regular Fourier series. If one integrates between image, a fixed point in this case. One can designate the
0 and T, all trigonometric terms drop out, and only the identical transformation just mentioned by a symbol,
constant terms Ko(a) and P,(a) remain; if one replaces TV&) *n+cx R,, which means that the transformation
them by their Fourier expressions, one finds the usual T applied n times to the point RO of the phase plane
form of equations of the first approximation, always results in the same point R,.
In a slightly more complicated case, when the van der
da
-= _-_~1 Pol equation acts as an operator of the transformation,
dt w 2ir
one has the transformation T”(r) -+,,, r0 = 2, which
means that the radius r approaches the value r0 = 2 after
02r f(a sin y, aw cos -y) cos y dy = @(a),
*I an infinite number of transformations. In the stroboscopic
(16) plane, there will be a discrete sequence of “stroboscopic
d& w+-- fi 1
-= points,” AO, A,, A,, . . . , converging to a limit point A
dt aw 2a
(Fig. 8) both from the inside and the outside of the circle
along the radius. This is valid in the first approximation,
02r f(a sin y, w cos r) sin y dr = Q(a).
*./ since, as is known, the period then is 2?r, so that for the
phase the transformation is identical. If one had to take
The first equation gives the stationary amplitude a,,
into account the correction for the period, this would
from the equation @(a,J = 0, and the second, the non-
cause a slight departure from radial motion. One can
linear frequency correction by the second term on the
consider the limit cycle as a locus of limit points A if the
right-hand side of the second equation.
phase of the flashes changes, since everything is sym-
For the first approximation, these two methods are
metrical with respect to the circle r,, = 2. So far this
simpler than Poincare’s method, but initially the van der
amounts to presenting the known facts in a different
Pol method was not adapted for approximations of higher
manner, but it will be shown that this argument leads to
orders; later Krylov and Bogoliubov [12] developed a
important results.
method based on an earlier procedure of Lindstedt used
in astronomy for approximations of higher orders. Finally,
recently Bogoliubov and Mitropolsky [13] generalized
this method still further.
C. Stroboscopic Method
This method is applicable to both nonautonomous and
autonomous systems and occupies a somewhat inter-
mediate position between topological and analytical
methods; it has been worked out in collaboration with M.
Schiffer and applied later to various problems, as will Fig. 8.
appear from the following section.
The method is based on the transformation theory of It is useful (although not necessary) to introduce two
DE. Its primary purpose is to replace the difficult problem new variables p and +, defined by the relations: p = r2 =
of the determination of a stable periodic solution of a 5’ + 2’; $ = tan-‘&/x), where p = r2, f = 9, and x = r
nonautonomous system by the simpler problem of cos $ and y = T sin #. Clearly, the variable p is a measure
establishing conditions for the existence of a stable singular of total energy (stored in the oscillation) up to a constant
374 IRE TRANSACTIONS ON CIRCUIT THEORY December
factor. One writes (1) as an equivalent system of two where p’ and 4’ are the terminal values in some interval
first-order DE (setting y = ti), and introduces these and p and 4 the initial values. Setting p’ - p = Ap,
variables, noting that z$ + y?j = l/2 dp/dt and xg - 4’ - 4 = A+, and taking into account (21), (23) can be
yi = p d$/dt. It is sufficient to replace x and y by their written as
values in order to have equations in the new variables.
If one applies this to the DE of harmonic oscillator, AP = ~vK(P, 4); A4 = ~wUP, 41. (24)
z + x = 0, one finds We have taken 2?r as a factor, as it usually appears in
integrations. It is noted t.hat the variable t has disappeared
!G = 0. -dlC, = -1 (17) in integrations (21) and K and L are merely some numbers.
dt ’ dt .
It is convenient, however, to re-introduce the temporal
The first expression shows that the energy is conserved, element by defining
and the second indicates that the period is 23r; these 2?rp = AT, (25)
are obviously equations of a harmonic oscillator in our
new variables. where 7 is the new independent variable, the stroboscopic
One ascertains easily that any nearly linear DE of the time. The difference equations can now be written as
type (1) can be written in the form AP =
--
AT K(P, 4); g = UP, 41. (26)
dp d+
- = /.LLf(P, 1c/, t); dt = --I + PS(P, $1 t>. (1%
dt These equations permit calculating successively the
If one replaces in these DE the series solutions of the “stroboscopic points” in the.4 plane. If the phenomenon
form lasts long enough in terms of one time interval 2?r, one
can introduce a continuous variable (since AT --) dr;
p(t) = PO(t) + PPl(O + ... ; Ap ---f dp and A+ t dq5).
(19)
#(O = $(t> + /A(t) + ... .
At the limit we obtain the stroboscopic DE,
one finds that for the zero-order terms (those which do not (27)
contain p) one has
It is noted that the stroboscopic system is autonomous
PII = PO; J/o(t) = 63 - t, (20)
although the original system (18) is nonautonomous.
where p0 and &, are the initial conditions. The first-order Hence, the topological argument can be used in connection
corrective terms are with (27), whereas it was impossible for (18).
One thus arrives at the theorem:
PI(t) = s,’ f(po, 6, - u, 4 da = WP~, 4o>, The existence of a stable singular point of (27) is the
cm criterion for the existence of a stable periodic solution
$~I(0 = u, ~1 du = Upo, 44. (limit cycle) of (18).
s oL dP0, 40 -
In fact for a singular point one must have
The first-order approximation is then
K(Po, &> = UPO, 4-J = 0, (28
PC0 = PO + /JPl(o; ti(t) = 40 - t + PA(t). (22)
which means dp/dr = 0 and d4/dr = 0. In other words,
It is clear that these expressions cannot be used for there exists a stable fixed point in the 4 plane, and this
t + ~0 since we have neglected the higher order terms in turn means that the trajectory in the # plane passes
(with p2, p3, . . a) and these may give rise to the so-called always through the same point (p,,, &). In other words,
secular terms, which would impair the accuracy of approxi- the trajectory is fixed in all its points and, since it is
mation in the long run. Instead of this we apply the periodic with period 2?r, this is a closed trajectory (the
following procedure: we let time run from 0 to 2~ and limit cycle).
determine ~(2,) and $(2~) from (22). The values so We omit some further remarks regarding the properties
obtained will be used as the initial conditions for the of the stroboscopic system and pass directly to the survey
interval (2~ to 4a), and again the time will run for the of applied problems.
interval 2~ and so on. In this way the error owing to
neglecting higher order terms will be kept under a certain 111. PRINCIPAL NONLINEAR PHENOMENA
value and will not accumulate. It is seen, however, that
the initial conditions in each interval will play the role of A. Parametric Excitation
a discrete variable resulting from the fact that we have It has been known for a long time [14] that if a parameter
replaced the original DE (18) by difference equations, as of an oscillating system is varied with double frequency
we are going to show now.
(compared to the free frequency of the system), an
Clearly (22) may be regarded as a transformation,
oscillation with the free frequency builds itself up in that
p’= P+cLPl; 4’ = 4 + PA, (23) system. In recent times such experiments were produced
1960 Minor&y: Theoretical Aspects of Nonlinear Oscillations 375
by Mandelstam and Papalexi with an oscillating circuit, The quantity p0 is real if the condition (35) is fulfilled.
and it was ascertained that if the system is linear, the In order to see whether the singular point is stable, it is
oscillation builds up indefinitely until the circuit is necessary to form the characteristic (3). From the
punctured by an excessive voltage. If, however, a non- general theory it follows that a = K,, d = L,, b = K,,
linear conductor is inserted, the amplitude of oscillation and c = L,, where K,, K,, L, and L, are partial derivatives
reaches a finite value and is stable [15]. of the functions K and L in (33) with respect to p and +
These phenomena are amenable to the DE of Mathieu at the point p0 and 4”. If one carries out this calculation,
[16], which for a linear case has the form (3) in this case, one gets
2 + (1 + a cos 2t)x = 0, (29) S2 + BS + $(A” - 4B2) = 0, (37)
and for the nonlinear case (we refer to the above-mentioned and for a stable singular point, it is necessary to have to
tests) it is fulfill again the condition (35), which is thus the necessary
and sufficient condition for the existence of amplitude and
Z + bk + (1 + a cos 2t)x $ cx3 = 0. (30) phase as well as for their stability. This result is again in
We shall treat both cases by the stroboscopic method agreement with the above-mentioned experiments.
[17] in the first approximation and will assume that all In recent years the theory of parametric excitation was
coefficients are small numbers in order to be in the nearly further generalized [18], which permits studying a number
linear domain. Consider first (29). Its equivalent system of phenomena which are similar but of a more complicated
isi=y;?j= - z - a [Cos 2t]x. Introducing the variables nature.
p and $ (Section II-C) one obtains the differences, In all problems of parametric excitation the essential
feature is that the phenomenon always starts from rest.
Ap = -i2?rap0 sin 24,; A+ = - $2aa cos 2q5,, (31) In other words, the degree .of freedom of the parameter
of p and $ for one period 2~. Here a plays the role of p, so variation always absorbs the energy which is transferred
that the stroboscopic time element is AT = 2na. The into the principal degree of freedom where the oscillation
stroboscopic system is then builds up. This is because of the fact that the stable phase
occurs for $+, = 3n/4 for which the amplitude is unstable
dp = -+[sin @]p. 7 &
- = -a cos 24. as we mentioned previously. One can question whether
dr (32)
dr
the “inverse parametric effect” is possible. It is clear that
It is seen that (32) has no singular point, as sin 26, and it cannot occur spontaneously as it is inherent in the un-
cos 24, cannot vanish together, but the second equation stable phase &, = r/4. However, if such a phase could be
shows that the phase has an equilibrium point when cos imposed artificially by an additional circuit, the inverse
2&, = 0, that is, when sin 24, = =t 1. The choice between phenomenon undoubtedly could be produced. In such a
these two values is dictated by the stability of &,. Forming case a bar, or string, oscillating laterally (owing to an
the variational equation for the second equation in (32) external periodic excitation of some kind) could be brought
(i.e., replacing 4 by &, + 64, where 84 is a small perturb- to rest, or its oscillation reduced, by an axial periodic
ation), one finds that the phase is stable when +,, = 39/4, force with the phase &, = 7r/4. In such a case, instead of
that is, when sin 2+, = - 1, and for this value the first excitation, one would have a parametric damping.
equation shows that p increases beyond any limit.
The procedure for the DE (30) remains the same; here B. Subharmonic Resonance
it is impossible to eliminate the term bLi:by the classical It has been known for a long time that if a nonlinear
transformation of the dependent variable as in the linear system is acted on by two periodic forces of frequencies
case. The stroboscopic system in this case is w1 and w2, the response of the system occurs not only with
these frequencies and their harmonics but also with the
dp = -+p2B[ + Asin2+] = K(p >4) 7 so called combination tones [19]. Thus, for instance, if one
dr
(33) impresses on the grid of an electron-tube oscillator with
&
-= the nonlinear characteristic of the form i, = a, v + a, v2
-$[A cos 2d + WP] = UP, d,
dr + a3 v3 (where i, is the anode current and v the grid
voltage), a voltage of the form v = vOx (sin wit + sin w2t),
where A = a/p, B = b/p, and C = c/p are the parameter
it is easy to show that the frequencies w,, wp, 2w,,
of the series solution. The singular point of (33) exists if
2%, 3%, 3w,, Wl + w2, Wl - w2, 2% + a, 2w, - W2)
sin 24, = -2B/A ; cos 24, = -3Cp/2A. (34) 2% + Wl, 2wz - w1 will appear in the plate current. The
first frequencies are the original frequencies and their
Since [sin 2&j 5 1, we have the first condition
harmonics, but the other ones-are the combination tones.
A > 2B. (35) Those of the latter whose frequencies are lower than the
lowest of the two frequencies w, and w2 are called sub-
Forming the expression sin22+, + cos22#+,= 1, we obtain
harmonics. The combination tones are given by the formula
w = mw, + nw,, where m and n are (positive or negative)
(36) integers. One readily sees that, if w0 is the free frequency
376 IRE TRANXACTIONX ON CIRCUIT THEORY December
of the system, and if the condition w,, = mw, + nwz is resonance. In order to simplify the problem still further,
fulfilled, a resonance effect is to be expected in such a we investigate the subharmonic resonance of the order
system. l/2 for the DE,
On this somewhat intuitive basis, the phenomena of the
subharmonic resonance are obvious, once the existence of t: - p(a - &“)t + f = e sin 2t,
subharmonic is recognized. If, however, one tries to which by the change of the dependent variable [ = ex
proceed analytically, one encounters considerable difficulty reduces to
because, given a differential equation, the determination
ct - ji(a - yx’)f + 5 = sin 2t; y = Be’. (42)
of a subharmonic as well as its stability generally involves
very long calculations. These difficulties very likely The generating solution in this case is
account more than anything else for our present relatively
z,(t) = A sin t + B cos t - $ sin 2t;
limited knowledge of these phenomena, although their (43)
physical nature is simple enough. y,,(t) = A cos t - B sin t - 8 cos 2t
The first complete theory of the subharmonic resonance
and the conditions of periodicity (6) are
was given by Mandelstam and Papalexi [20]. These
authors dealt directly with the nonautonomous DE of the Z(27r) - x(0) = 2,(27r) - x,(O) + /.&(27r) = 0,
resonance. The calculations of stability are rather long, (44)
as this involves the calculation of the characteristic ex- Yew - Y(O)= %cw - Yo@)+ PYlcw = 0,
ponents, as the variational equations here appear with since x,(O) = y,(O) = 0, as follows from (40). Eqs. (44)
periodic coefficients. are adequate for the determination of the existence of the
We prefer to treat this problem by the stroboscopic subharmonic but not of its stability. For the latter it is
method which simplifies the problem to some extent. preferable to investigate the approach to the subharmonic
We consider the DE, solution. For this it is useful to consider the case when the
3 + x + pf(x, i) = sin nt. right-hand terms in (6), instead of being zero, are certain
(33)
quantities, say Ax and Ay. It is noted also that x(0) = B
It is noted that the amplitude of the external periodic and y(0) = A - 2/3. Since in the stroboscopic method
excitation here is one, as this can always be done by a the ultimate variables are the initial conditions in each
change of the independent variable. interval 2a, it is useful to introduce A and B as new
We wish to show that there may still be a periodic variables. Calculations at this point are simple but long-,
solution with frequency one in spite of the fact that the as expressions (39) are to be introduced into f(x,, &) and
frequency of the external excitation is n (i.e., the sub- the results so obtained have to be integrated between
harmonic resonance of the order n). If p = 0, the generating 0 and 2n. The stroboscopic system in this case becomes
solution so(t) is
dB
-= +B {a - T[$ (A2 + B2) + h]} ;
a7
x0(t) = A Sin t + B cos t + &sin nt, (39) (45)
and likewise for y(t) = k(t). If one forms now the con-
ditions of periodicity (6) one finds
dA
-=
dr
+A $ (A2 + B’) + h .
I>
The introduction of polar coordinates p = A2 + B2 and
t 4 = tan-‘(B/A) simplifies matters. Forming the combi-
x,(t) = - sin (t - df(x0, Yo) du; nation Bli + AA = + dp/d, one gets
s0
(40)
dp
Yl(O = -lt cm (t - df(xo, Yo) du, - = ~[(a - +Y> - 2~~1= G(P). (46)
dr
which results in the first approximation, The second combination is of no interest, as one has
simply d+/dT = 0. From (46) one obtains an expression
x(t) = x,(t) + w,(O; y(t) = Yo(O + PY&). (41) for the stationary amplitude
At this point there is a ramification of the problem into
two cases: 1) when the resonance is exact, and 2) when the p. = $3 (ff - $Pe’),
system is in the neighborhood of the exact resonance. In
the latter case there appears also the phenomenon of since y = be’.
synchronization, which we shall investigate later. As the Hence the stationary amplitude p. = ri can exist only if
first problem is simpler, we investigate it here. In fact, the
difference between the two cases is in the length of calcu- (43)
lations only. For the exact resonance, all integrations are
between 0 and 2i~, so that the integrated parts vanish, This is the essential feature of the nonlinear resonance.
whereas in the second case the integrations are between In ordinary (linear) resonance, the amplitude of oscilla-
0 and 2a + E where e is “the detuning” from the exact tion exists for any value of the external periodic excitation;
1960 Minor&y: Theoretical Aspects of Nonlinear Oscillations 377
here it exists only as long as the external excitation is not Van der Pol gave a theory for this phenomenon [21] by
too large. assuming a solution of the form
Since the stroboscopic method reduces the problem of x(t) = b, sin wt + b, cos wt. (52)
stability of the periodic solution of the original system to
that of the singular point of the stroboscopic system, the If one inserts this solution into the DE (which is not
condition of stability is written here), it is necessary to assume that 6, and b, are
(49) slowly varying functions of time in order to satisfy the
MPO) < 0,
DE. Then it is possible to reduce the original DE to a
and one finds easily that the condition of stability is system of the form
always fulfilled in this case.
The problem of determining a stable subharmonic z;l = fb, b); 6, = gel, b,). (53)
solution in this case was simple because it was possible to
introduce the variable p. However, this is not always This is now an autonomous system whose singular point
possible. occurs for f = g = 0; in such a case b, and 6, become
Thus, for instance, if one tries to ascertain the existence constant and the solution represents the phenomenon of
of the subharmonic resonance of order l/3 in the case of a synchronization. From this point Andronov and Witt
Dulling equation, [22] developed a purely topological theory of synchroni-
zation which can be found also in reference [23].-
$! + ff.$ + cl3 + .$ = e sin 3t, (50) One can also apply the stroboscopic method. It permits
and proceeds .as previously shown, the coordinates of the approaching this problem from a quantitative point of
singular point in the stroboscopic plane are given as real view, but it does not possess a simple intuitive approach
roots common to two algebraic equations, to this question as does the topological.method.
We consider again the DE
1 =OJ
(51)
\~ I
2 + (cx2 - a)? + x = e sin wt