Resonant Jumps in Feedback Nonlinear Systems

Containing Saturation-type Nonlinearity

Mitica Temneanu, Mariana Sireteanu

Faculty of Electrical Engineering
Gheorghe Asachi Technical University of Iasi
Iasi, Romania

Abstract — This paper examines the resonant jumps which can

occur in feedback nonlinear systems. Using the frequency II. THEORETICAL CONSIDERATIONS
responses, the conditions of appearance of these resonant jumps Consider the nonlinear system given in Fig.1, excited by a
are established. The closed-loop system contains both a nonlinear harmonic signal. The excitation signal has constant amplitude
part as well as a linear part. The linear part works as a low-pass and frequency:
filter. The system is excited with a harmonically signal having
constant frequency. If the amplitude of the excitation signal r( t ) = R sin ωt (1)
varies, in this feedback nonlinear system resonant jumps can
occur. For a saturation-type nonlinearity, the possible
frequencies of the excitation signal that can produce or not r (t )
+
x(t ) y (t ) e(t )
resonant jumps were determined. The excitation signal amplitude N L
for which the resonant jump occurs can be determined. The _
results obtained by numerical simulation confirm the theoretical
considerations.
Figure 1. The nonlinear system
Keywords - Saturation nonlinearity; Nonlinear resonant jump;
Nonlinear systems.
The nonlinear part N is non phase-shifting. The linear part
I. INTRODUCTION L works as a low-pass filter.
The resonant jump phenomenon was highlighted both in The error signal will have the following form:
physical nonlinear systems and in feedback nonlinear systems
harmonically excited. As a result, jump variations of amplitude x( t ) = X m sin( ωt + ϕ ) (2)
and phase of the oscillation in nonlinear systems occur.
C. Hayashi [2] shows oscillations that can occur in
controlled nonlinear circuits due to the jump resonance If the linear part works as a low-pass filter, the nonlinear
phenomenon, signaling the possibility of appearance of slow part can be approximated through the describing function.
oscillations. Consider a constant-slope saturation-type nonlinearity,
A generally study of the jump resonance in nonlinear Fig.2, and a constant-range, variable-slope saturation-type
feedback systems was presented in [4, 5, 7]. nonlinearity, Fig.3.
The resonant jump phenomenon in nonlinear hydraulic
systems was studied in [3, 6]. For these types of nonlinearities, having the slope m
Using the describing function in the study of nonlinear (constant or variable) and the range δ, the describing function
jump resonance in feedback nonlinear systems is presented in has the form:
[1, 4, 5].
The author emphasized the possibility of appearance of N ( X m , m,δ ) =
resonant jumps in feedback nonlinear system having a
saturation-type nonlinearity. ⎛ 2⎞
2⎜ δ δ ⎛ δ ⎞ ⎟
The study was carried out using the describing function [1]. = m ⎜ arcsin + 1 − ⎜ ⎟
⎜X ⎟ ⎟
The conditions of appearance of the resonant jumps are π⎜ Xm Xm ⎝ m⎠ ⎟ (3)
⎝ ⎠
established.
The possible frequencies of the excitation signal that can for ( X m ≥ δ ) ,
produce resonant jumps were determined. m for 0 < X m < δ.
For these frequencies, the excitation signal amplitude for
which the resonant jump occurs was determined.
The results obtained by numerical simulation confirm the The nonlinearity presented in Fig.2 has a constant slope,
theoretical considerations. m = 1 . The nonlinearity shown in Fig.3 has δ=constant.
 Consider that the linear part transfer function has the form:
Xm
K N
L( s ) = (4) X m2
s (1 + Ts )
P
For this linear part of the system it can be determined a X m3
frequency (or more frequencies) for which the resonant jumps
X m1 M
can occur, if this frequency exists. Q
X m4
In terms of real and imaginary parts, the linear part of the
system can be written as: 0 R1 R

L( jω) = U L (ω) + jV L (ω) (5) Figure 4. Example of a resonant jump curve

The working point of the system is given by the intersection

y between the resonant jump curve and the vertical straight-line
δ in R = R1 . This value, R1 , is the actual value of the excitation
signal amplitude. During the operation, the amplitude of the
δ x excitation signal varies. The working point moves up and
down on the resonant jump curve, slightly or by jump,
according with the current situation. In the tangent points, the
increase or decrease through jump of amplitude X m occurs,
Figure 2. The constant-slope saturation-type nonlinearity when the following condition is met:

If the slope of the nonlinearity is constant, the nonlinear

⎛ ∂R ⎞
characteristic moves up and down, following the δ value. ⎜⎜ ⎟⎟ =0 (8)
⎝ ∂ X m ⎠ ω=const .
y
Consider the situation presented in Fig.4. If the excitation
mδ signal amplitude increases, starting from zero, the working
point moves to the right on the s-shaped curve, reaches point
x
M, in which the error signal amplitude varies by jump from
δ = ct .
X m1 to X m2 and the working point moves up, by jump, from
M to N. For a similar reason, when the excitation signal
amplitude decreases, the working point moves down on the s-
shaped curve, reaches point P and the error signal amplitude
Figure 3. The constant-range, variable-slope saturation-type nonlinearity varies by jump from X m3 to X m4 . The working point moves
Tacking into account the relations (3) and (5), the error down, by jump, from P to Q.
transfer function of the nonlinear system may be written as: With the relation (7), the condition (8) becomes:

X 1 ⎛ 1 ⎞
( jω, X m , m , δ ) = (6) ⎜U L (ω) + ⎟⋅
R 1 + N ( X m , m , δ )L( jω ) ⎜ N ( X m , m, δ) ⎟⎠
⎝
(9)
⎛ 1 ⎞
Considering the magnitude in relation (6), it results: ⋅ ⎜U L (ω) + ⎟ + V 2 (ω) = 0
⎜ * ( X , m, δ) ⎟ L
⎝ N m ⎠
R = X m ( (1 + U L (ω) N ( X m , m, δ)) 2 +
(7) where
+ VL2 (ω) N 2 ( X m , m, δ) )1 / 2 d ( X m N ( X m , m , δ ))
N * ( X m , m, δ ) = (10)
d Xm
The graphical representation of equation (7) in the plane
( R , X m ) is called resonant jump curve and its aspect is shown
For the nonlinearity with the describing function given in
in Fig.4. relation (3), it obtains:
 N * ( X m , m,δ ) =
The envelope of the circles (12), represented for different
⎛ 2⎞
2⎜ δ δ ⎛ δ ⎞ ⎟ error signal amplitudes varying from δ to infinity, define a
= m ⎜ arcsin − 1 − ⎜⎜ ⎟ ⎟,
⎟ (11)
π⎜ Xm Xm ⎝ Xm ⎠ ⎟ region, as it is presented in Fig.6. The circles (12) depend
⎝ ⎠ only by the nonlinear part.
( Xm ≥ δ )
m (0 < Xm < δ ) If this region is crossed by the open-loop frequency
response locus (polar plot) of the linear part, then, for the
For a fixed slope and range of the nonlinearity, condition corresponding frequencies ω an excitation signal for which the
(9) can be written as: resonant jumps occur in the nonlinear system exists.
In this region, each point corresponds to an intersection
2 between two circles (12) plotted for two different error signal
⎛ ⎛ ⎞⎞ amplitudes.
⎜U (ω) + 1 ⎜ 1
+
1 ⎟⎟ +
⎜⎜ L 2 ⎜ N ( X m ) N * ( X ) ⎟ ⎟⎟
⎝ ⎝ m ⎠⎠ The domain of frequencies in which the excitation signal
(12)
2 amplitude can varies to produce resonant jumps can be
⎛1⎛ 1 1 ⎞⎞
+ V L2 (ω) = ⎜⎜ ⎜ ⎟⎟ determined from the S-shaped jump resonance curve depicted
−
⎜ 2 ⎜ N * ( X ) N ( X m ) ⎟ ⎟⎟ in Fig.4.
⎝ ⎝ m ⎠⎠

jV L (ω)
where N ( X m ) = N ( X m , m , δ ) for m, δ = constant.
For a given X m , relation (12) represents the equation of a
circle. The center and the radius of this circle depend only by
the describing function.
⎛ ⎛ ⎞ ⎞ U L (ω)
The point C ⎜ − 1 ⎜ 1
+
1 ⎟ ⎟ is the center of the
,0 ω2
⎜ 2 ⎜ N *( X ) N ( X m ) ⎟ ⎟
⎝ ⎝ m ⎠ ⎠
ω1
⎛ ⎞
circle and the radius is ρ = − 1 ⎜ 1
−
1 ⎟. L( jω)
2 ⎜ N (X m ) N *(X ) ⎟
⎝ m ⎠
If the linear part of the system has the real and imaginary
Figure 6. Domain of the excitation signal frequencies for
part denoted by U L (ω) and V L (ω) , condition (12) shows which resonant jumps occur
that the working point of the system reaches tangents points M
or P (in which the current error signal amplitude is X m1 or As a result, consider the situation presented in Fig.6. For the
excitation signal frequencies comprise between ω1 and ω2 it
X m3 ) the open-loop frequency response locus (polar plot) of can find a domain for the excitation signal amplitude to
the linear part intersects one of the circle (12) determined for produce the two resonant jumps.
the amplitude X m1 or X m3 , accordingly. The described
situation is shown in Fig.5. Because the open-loop frequency III. SIMULATION RESULTS
response locus (polar plot) of the linear part has V L (ω) < 0 , Consider for numerical simulations a saturation type
only the semicircles with V L (ω) < 0 has been shown. nonlinearity with δ = 1 and m = 1.
The parameters of the linear part in the considered example
are K = 800 and T = 1 [s].
circle (12) for Xm1 The considered linear part of the system can be written as:
jV L (ω)
circle (12) for Xm3
KT K
L( jω) = − − j (13)
U L (ω) 1 + ω2T 2 ω(1 + ω2T 2 )

The region in which the resonant jumps can appear depends

L( jω) only by the nonlinear part parameters. This region, for the
considered saturation-type nonlinearity having the parameters
δ = 1 and m = 1 , is presented in Fig.7.
Figure 5. Semicircles (12) for Xm1 and Xm3 and the open-loop
frequency response locus of the linear part
 working point moves on these resonant jump curve to the right,
80 a resonant jump occurs at R = 9.2 , the corresponding error
60
signal amplitude (before the jump) being X m = 1.64 . It can be
seen that the amplitude after jump is higher than 20.
40
Imaginary part, V(ω)

20
20

0 18

16
-20
14
-40

Amplitude, Xm
12

-60 10

8
-80
-10 -9 -8 -7 -6 -5 -4 -3 -2 -1
Real part, U(ω) 6

Figure 7. The region in which the resonant jumps can occur 2

for δ=1 and m=1 0

0 1 2 3 4 5 6 7 8 9 10
R

The simulation was made for X m = δ + 0.1...15.1 using a Figure 9. Resonant jump curve for δ=1, m=1, UL=-9, VL=-0.97
0.3 step, the plots being made for U L (ω) > −10 .
Each moment, the working point of the system is at the
For others values of δ and m these regions have the same
intersection between the S-shaped curve and the vertical
shape that can enlarge or diminish (in terms of U L and VL ),
straight-line drawn in point R1 (the actual value of the
depending on the considered values.
excitation signal amplitude). If the value of the excitation
The centers and the radius of the circles (12) depend on the signal amplitude decreases, the working point moves on the
error signal amplitude as it is shown in Fig.8. upper branch of the resonant jump curve at the left, a resonant
jump occurs at R = 1.2 , this time the corresponding error
signal amplitude (before the jump) being X m = 11.4 . After
2000
jump, the amplitude is lower than 0.5.
1500 R
0.5 For these values of the error signal amplitude, the semicircles
1000
1 (12) were plotted in Fig.10. The corresponding centers and
500 2 radius (C, ρ) for these semicircles are: (-5.2434, 3.8644) for
Center, Radius

0 C1 and (-1745.8, 1736.9) for C2. The open-loop frequency

2
-500 1
response locus (polar plot) of the linear part for ω=7…18
0.5
[rad/s] was represented.
-1000
It can be seen that the intersection between the two semicircles
-1500
C
corresponds to frequency ω = 9.38 [rad/s] on the open-loop
-2000
frequency response locus.
1 2 3 4 5 6 7 8 9 10
Amplitude, Xm
0

Figure 8. Dependence of the circles’ radius and centers on

the error signal amplitude for different values of m -1 L

It can be seen that the radius of the circles (12) enlarge at -2

C1
Imaginary part, V(ω)

the increase of the error signal amplitude X m . In the same

time, the center of these circles moves to the left, accordingly. -3
C2

Inside these region, obtained for δ=1 and m=1, the point -4

having U L (ω) = −9 and V L (ω) = −0.97 was considered. This -5

ω=9.38 [rad/s]
point is part of the open-loop frequency response locus of the
linear part, the corresponding frequency being ω=9.38 [rad/s]. -6
-16 -14 -12 -10 -8 -6 -4 -2 0
Real part, U(ω)
Using relation (7), the corresponding resonant jump curve
was plotted in Fig.9. If the value of the excitation signal Figure 10. Semicircles (12) for Xm=1.64 and Xm=11.4
amplitude increases, starting from zero, it can be seen that the and open-loop frequency response locus
The numerical simulations of the system behavior at the The amplitude of the excitation signal at the jump moments
variation of the excitation signal amplitude having the corresponds to the values R = 9.2 and R = 1.2 of the
frequency ω = 9.38 [rad/s] can now be presented. excitation signal amplitude above mentioned.
The variation of the error signal at the increase of the
excitation signal amplitude from 1 to 15 over 1000 [s] is IV. CONCLUSIONS
presented in Fig.11.
This study presents the possibility of occurrence of the
40 resonant jumps in feedback nonlinear systems.
30
The amplitude and frequency domain of the excitation
signal for that the resonant jumps occur for a given linear part
20
and a saturation-type nonlinearity was determined. For a given
nonlinearity, it can be said, regarding to the linear part, if the
error signal, x

10

0
resonant jumps occur or not. If the resonant jump occurs, the
amplitude of the appropriate excitation signal can be
-10
determined.
-20 The numerical simulations confirm the theoretical
-30
considerations.
0 100 200 300 400 500 600 700 800 900 1000
time, [s]

Figure 11. Error signal amplitude at increase of R from 1 to15

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shown in Fig.12. Systems, Marcel Dekker Inc., ISBN: 0-8247-4112-9, New York, (2003)
[4] Fukuma A., Matsubara M., Jump resonance in nonlinear feedback
30 systems, Part I, Approximate analysis by the describing function
method, IEEE Transaction on Automatic Control, Vol. 23, Issue 5, pp.
20 891-896, (1978)
[5] Hirai K., Sawai N., A general criterion for jump resonance of nonlinear
10
control systems, IEEE Transaction on Automatic Control, Vol. 23, Issue
error signal, x

0
5, pp. 896-901, (1978)
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-20
[7] Hin Kwan Wong, The Jump Resonance Phenomenon in Nonlinear
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-30
0 100 200 300 400 500 600 700 800 900 1000 Challenges, Mathematics Institute, Warwick University, (2010)
time, [s]

Figure 12. Error signal amplitude at decrease of R from 5 to 0