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Zhou
Menton Professor
Introduction
General nonlinear systems
Automomous (Time
Invariant) Systems (does
not depend explicitly on
time):
Equilibrium Points: start
from x*, remain at x* for
all t>0
x f (t , x, u )
x f ( x)
f ( x) 0
Introduction (cont.)
Isolated Equilibrium: no
other one in a
neighborhood
Continuum of Equilibrium
Points:
Linear Models: (a)
superposition principle (b)
all results are global
x A(t ) x B(t )u
y C (t ) x D(t )u
Example: Pendulum
ml mg sin kl
Let x x
1
x 1 x 2
g
k
x 2 sin x1 x 2
l
m
equilibria : x 2 0, sin x1 0
(0,0), ( ,0), (m ,0)
v L LiL
Define x1 vC , x 2 i L
iC i R i L 0
E vC i L R v L
equilibrium points :
1
h( x1 ) ( E x1 )
R
Cx 1 h( x1 ) x2
E x1 Rx2 Lx 2
F f h( y )
hardening spring :
small velocity : F f cy
g ( y ) k (1 a y ) y
Isolated equilibria
k mg ,
( y , y )
k mg sign ( y ),
ky,
mg sign ( y ),
k
my ky cy ( y , y ) 0
set x1 y , x2 y
for
for
for
for
for
for
y 0
y 0
y 0
| y | 0
y 0 and | y | k mg / k
y 0 and | y | k mg / k
Negative-Resistance Oscillator
Negative-Resistance Oscillator
i h(v), h(0) 0, h' (0) 0
h(v) as v , and h(v) as v
t
1
iC iL i 0 Cv v( s )ds h(v) 0
L
or
Scaling by t / CL Then
v h' (v)v v 0
where L / C
1
Van der Pol equation : when h(v) v v 3
3
v (1 v 2 )v v 0
Negative-Resistance Oscillator
Let x1 v and x2 v Then (in )
x 1 x2
x 2 x1 h' ( x1 ) x2
Alternatively, let z1 iL and z2 vC ( v) (in t)
1
z2
L
1
z 2 z1 h( z2 )
C
Scaling by t / CL Then (in )
1
z1 z2
z 2 z1 h( z 2 )
z1
dv
z1 h( z 2 )
d
Phase Plane
Consider a second order system
x 1 f1 ( x1 , x2 )
x 2 f 2 ( x1 , x2 )
Initial state : x (0) x0 ( x10 , x20 )
trajectory (orbit) : locus of the solution
in x1 x2 plane
state (or phase) plane : x1 x2 plane
vector field : f ( x ) ( f1 ( x), f 2 ( x))
2
Isocline Method :
the slope of the trajectory at x :
f (x , x )
s( x) 2 1 2
f1 ( x1 , x2 )
isocline : set s( x) c for different constants
x1 decreasing
f2 0
x2 increasing
f2 0
x2 decreasing
Example (Pendulum)
Example (1.1a)
x 1 x2
x 2 sin x1
slope s ( x )
sin x1
( c)
x2
1
x2 sin x1
c
Example (1.1b)
x 1 x2
x 2 0.5 x2 sin x1
slope s ( x )
x2
0.5 x2 sin x1
( c)
x2
1
sin x1
0.5 c
Linear Systems
is 2x2 real matrix
Jordan form
()
exp(
a1 0 a k a - b
,
,
0 a2 0 a b a
Case 1 : Real case a1 a 2 0
Let
Then
1 1
2 2
2/ 1
( )
( )
stable node : 1 0,
unstable node : 1 0,
20
10
20
0
2
2/ 1
10
Linear Systems
saddle point : a1 0, a2 0
or a1 0, a2 0
Linear Systems
Case 2 : complex eigenvalues a jb
z1 az1 bz 2 ,
z 2 az1 bz 2
polar coordinates :
r z1 z 2 , tan -1
2
r ar,
b,
r(t) r0 e at
(t) 0 bt
stable focus : a 0
unstable focus : a 0
center : a 0
z2
z1
Linear Systems
Case 3 : Nonzero multiple eigenvalues a 1 a 2 a
z1 az1 kz2 ,
z 2 az 2
z1 (t) e at ( z10 kz20t ), z 2 (t ) e at z 20
z1 z 2 [
z10 k
z
ln 2 ]
z 20 a z 20
stable node : a 0
unstable node : a 0
Linear Systems
Case 4 : One or both eigen. are zero
equilibrium subspace (not isolated eq. pts)
z1 0,
z 2 a2 z 2
z1 (t) z10 , z 2 (t ) e a 2 t z 20
a1 a2 0, k 1 otherwise A 0
z1 z 2 ,
z 2 0
z1 (t) z10 z 20t , z 2 (t ) z 20
With numbers:
dx1/dt=0.5[-h(x1)+x2]
dx2/dt=0.2(-x1-1.5x2+1.2)
h(x1)=17.76x1-103.79x12+229.62x13-226.31x14+83.72x15
Example (pendulum)
dx1/dt=x2
dx2/dt=-gsinx1/l-kx2/m
Example
Example
Example
Limit Cycle
A limit cycle is a
isolated periodic
solution.
Some limit cycles are
stable while others are
unstable.