+ Luieovive Hee vrlitter ceguation B@eaxy in He repion Sen eT, 106y S12. raferemee pthc is RG" g=l — Novtunear System > opt & ie a furctr of 2 inputs x, — Lukewe approximation: expand Be flag) inf ow Tig lor Santen about He reference pone eg ). > - Ze fF (%4) + He (52) ‘log QI (Hor ~ Nese He Ceferomee point: ae Hom; Linear model in the aaipiertad of on he ae ) 2 = OF, OCW + a 4-¥ 2- RQ = Fe ek Y 9 oy ee ¥ BK Cee) + Ko (y- 4) For He exanple' R26, gl) ee Slag xy. Fag RG> a 2 = o6ey) «well af xe evga et lots you 4q | ve ae of . oe = K=6 oy arbi yell 2 4 Ye > Linsarred equation: 2 66 i (x- 6) ee er 2 a +A x5) y=l0t Exark vale of B= KY = Valu of, 2» fon Lenserived cee - “youn 66 2 Error is 50-4921, © Ab. WRF ol oR geg xeerFigg | Gaye [Balc- R) + 23 (XD 7 5 Gv“AN sqstems are nonlinear, but almost alg physical Systems Chun. be well appreciated by Luiear model sf the signals ace small. Cox: Tf @ is small, than. SING BO and wos} =!) * Lineoritation is +e pres of Firdeig a linear rnodlel hat aypprecimittic 4. olinear, oe "Can Lerwacize a rnedel tnd dtaign a beniar corko| for it Such Hat ste design is stalle at least in be rraighborloed of He egy ilibriuen. Lineacizaction by SmaUt-Signal Analysis * Compute a Linear model Heat is valid te Breall srqneks + Suppose Hat the differental Lpuactiong) gprerning & Syston have n variables? %1, aye) Xn “these we called State variables °D ofene a veetor X(t) = [ele tl. XaG)]7 coed He State yo tor. » £10 Contains a minimum see of plrgsical quent ties War Completely describe the time evolution of He system: ~The number Ff guenbihes Cate veriebles) iS unique. Slat Speciti= quantdiis Hat dope te Spsteen state Bre not “nigua Sometimes Hrore is an obvious ehrice of state variables} sometimes Hace isn'tLinearization, cock . Sueppese that dhe ODE's govee ning He System have om input variables which ace used bh retuatz Hee sustem: Uy, Ua, Um Trpnt vector * “OL... uey\t m * When Hoe ODE's are non Linear, Con be formulate as a nonlinear state equation Exch p¥-odlee ODE in tha model is represented as P coupled [Fader ODE 's wheese verialls are te State varrathes - The nonlinear state squactzion is gee by: x $F, (1) May, nj Uy) Un, ) Um) te =| Fay Xayey 5 Uy MayeyUm) | ore E-$G,.9] en Go (hay Wey ony Hog Uy Uy em) | (whore ay Ex! { x, = x4 ,r _—_ Madeveer state o roo In + ek pieofir we derived? +4 cin b= Je. Cronbeivar) 2 me~ Q™order ODE > 2 |Seplec ode's, \ stoke ver ielfos : _ =. « 1 » in put vousble' Ye Te /m OY P Nori eas = Sun, w $0) be Sly) Stete eqs . X= [x x) da> ~Tsin ky tu £m, x4) $6.0) ls) Stade [Bes] 2(%,4)Lensaniecation, cong. EEE atte Fn 3 Bolt colling alon a_slotted cotating bean () ~The equations of motion An derived to be: 8%) a, : O (2 tm) + mq Sin @—mp O* = O @® (mp>+ 7+ H)E+ Am pp tomgp wos @ = T(t) = bau position T(t) = appbied aus m,c, Ip=mass, ben ene Tes ore tern at et 2 arborder ODE's > 4 glee ODE 's Fue’ + stoke vaiables: % =P. Mr=pr X3- 8 x26 + input wanible > w= Ti) > plowbuiaar Fi a = F.C yu) 6h % =flx, u) state 4% Are h(x, x4 sin x2) a = Xp =Fale iu) Fle, We TF OW ooo F2(%,u) = QM X MX -M4X, cos Ka tu x) ie mere Fs (¥,) TtT, be mf(CSi/e*) +] eet) CE fy (Kw) “To Luncacize a nonlinear Stette equation, we expand it into a Ténlor series aloout a reference oink or chemi actor and discard hig her- order terms (CH.d.T's)- ~ Pv impoctant rele Fe rt~—~—~—s=CsCCst Ce dhe stete viriabhhs near 25 Wlibrinm, the State vector * What settsfiec de, = F (Heyy Up) = oe ened peetorMinearretion » cont Mee titon ) cont Exp and me F(x, u) in @ Tay lor where Kol) m be ane brit i ‘ x utlibri + cefermnce his oc a oa a ea, es fe otoy, that Vdui2e ove, time? — for gach Gate variable i, C2b2. we Or Fels d~ $:Ce.,y) + 5 Bila Cas nej) ay Zz? ™ . a7 d +> Flew Nog : za frog) + , gr! uy He, Uy 4 Hor 5 het AM= Ke- Koz, Aur = Uj - eg er eg oat Ge are) >axu- 3 se Gm oe 4x, 4)) aus 4 an Hou. * J dug t Prrrangeip He Axi , Aug in veetos, we obtain a Qeneor time-invariant (TL) stoke egret tet Applrximates Hu system dgnamies Poe =X): DG NGA es re faces Auch” GeR”™ F awk & ace emstart matrices yshare Orties are anwertre® (with constant U=u,) Secres About x= Hol. Ko, 4, Lo, Us, 0) Uo Fig = BEEro) Guy = B&G) +E lw 4 Lo) lo ? Duj ae Ge an a Jacobian of f with repeet to 2; Ce Taeobian of fut _ oe i aLC Lentarivetion , cart [Bee] Single pentelan Selve for the equilibriom point eq as «function of y =e. POF eee male con tu=O0 = Li Tewbees ra [ie], fi “Cp] = on") Gane ‘ge uzO, %1=O= 0, ia '§ About = Leg, Ue * Lineacize Hee nolineac Az = Fax + CAu F278 fu as a ig i ae r [>a on creo, Bat BAS Asn = oO ( o ' By pees x, o vay = " “F cos [sie “ G = af fou Dxa/du PFfou | aE 2 (-F sin % i ? The Snearized state equation ic: Tpaprp] oJ" - peg of" [i