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Lecture7 Linear Approx of Sys 2024

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19 views12 pages

Lecture7 Linear Approx of Sys 2024

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jeremyryner737
Copyright
© © All Rights Reserved
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Lecture 7: Linear Approximation of Systems

Topics covered:

• Linear approximations of systems

• Examples

Readings:

• ME2543 Notes

1 Properties used to identify linearity


This course is devoted to the control of linear systems. But, what exactly is
a linear system?

The necessary conditions for a system to be linear can be determined by


looking at the ......................................................................................
System input/output

A linear system possesses the following two input/output properties:

1
1. Property of SUPERPOSITION

2. Property of HOMOGENEITY

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Example 1: For a system, defined as y = dr
dt , with input r(t) and
output y(t) to be linear the following steps need to be taken:

• Set y1 (t) = ............................ and y2 (t) = .................................

• Apply the superposition property:

..................................................................................................

• Apply the homogeneity property:

..................................................................................................

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Example 2: Determine if the system y(t) = r2 (t) is linear, with r(t) being
the input and y(t) is the output.

.....................................................................................................

4
2 Linearization
Unfortunately, most physical systems have a nonlinear behavior. Some ex-
amples of physical nonlinearities are given below.

• An electronic amplifier exhibits saturation at high input voltages.

• A motor that doesn’t respond at very low input voltages due to frictional
forces has dead zone.

• Gears that don’t fit tightly exhibit backlash, i.e., the input gear moves
over a small range without the output gear responding.

So, how can we linearize nonlinear systems in


order to obtain TFs?
Linearization is based on the concept that any nonlinear function is
approximately linear in a sufficiently small region about an operating point.
..................................................................................................................

Consider a nonlinear function f (x) operating at point x0 .

The linear approximation is obtained by .......................................

5
For small excursions about x0 , we can neglect the high-order terms, resulting
in:

.................................................................................

Example 2: Consider the pendulum in the diagram below, with the associ-
ated free-body diagram:

6
Applying Newton’s 2nd law:

.....................................................................................

We want to approximate f (✓) = sin ✓ with a linear function.

Physically, the operating point is usually selected to be the ...........................

i.e., the point where, if the system starts there, it stays there for all future
time.

For pendulum, ✓0 = 0 rad.

.........................................................................................

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The linearized pendulum model is:

This approximation is reasonably accurate for small deviation from the equi-
librium (| ✓|  20 = 0.35 rad).

Multivariable function:

f (x1 , x2 , . . . , xn ) = f (x), x = [x1 , x2 , . . . xn ]T


x0 = [x01 x02 . . . x0n ]T

...........................................................................................................

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Example 3: Consider the magnetic levitation system shown in the figure
below. The magnetic force produced by the electromagnet is given by:
I2
F (x, I) = k
x2
where I(t) is the electrical current in the coil of the electromagnet, x(t) is
the air gap between the electromagnet and the plate, and k is a constant.
Linearize the magnetic force model about the nominal current I0 and the
nominal air-gap x0 .

Applying a Taylor’s series expansion to the given force model about I0 and
x0 yields:

.............................................................................................................

9
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