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Lecture 11

Lecture 11 focuses on the linearization of nonlinear functions and differential equations, emphasizing the challenges posed by nonlinear systems in real-world applications. It discusses how nonlinear functions can be approximated by linear functions near an operating point using Taylor series expansion. The lecture also outlines the procedure for identifying equilibrium solutions and linearizing differential equations for better modeling and simulation.

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4 views16 pages

Lecture 11

Lecture 11 focuses on the linearization of nonlinear functions and differential equations, emphasizing the challenges posed by nonlinear systems in real-world applications. It discusses how nonlinear functions can be approximated by linear functions near an operating point using Taylor series expansion. The lecture also outlines the procedure for identifying equilibrium solutions and linearizing differential equations for better modeling and simulation.

Uploaded by

Danny Chicas
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Lecture 11: Linearization

1. Introduction

2. Linearization of a nonlinear function

ENGR 4220/5220, Lecture 11


3. Linearization of a nonlinear diff equation

1
Nonlinear Systems
• Most real world systems are nonlinear in
some respect
• Friction, air drag, saturation, backlash
• Nonlinear differential equations are difficult, if

ENGR 4220/5220, Lecture 11


not impossible, to solve analytically
• Transfer functions model only linear systems
• Previously in the course we have numerically
simulated nonlinear systems to determine
behavior … difficult to design in this manner,
2
can lack insight
Nonlinear Systems
• Nonlinear functions can approximated by a
linear function in a neighborhood about an
operating point

First two terms of a


Taylor series
expansion
Linearization of a Function
•

Higher order terms (H.O.T.)


Example
_
• Linearize f(v)=av2 about v=v
Example
_
• Linearize f(θ)=mgl sin θ about θ = θ
Nonlinear Systems
• This same idea can be
used for providing
approximate models of
nonlinear systems
• Nonlinear diff eq Linear
diff eq in terms of deviation
from the operating point (Δ)
• These approximate
models are only valid in a
small neighborhood about
the operating point
Linearizing Differential
Equations
• First thing that must be done is to identify
the operating point about which to linearize
• Since the operating point is an equilibrium
solution of the dynamic equation, the

ENGR 4220/5220, Lecture 11


derivatives must equal zero
.
• Therefore, if x=f(x,u), the equilibrium
_ _ _ _
solution is found from 0=f(x,u) where x and
u are constants

8
Example
_ _ .
2
• Find the equilibrium solution (v, F) of F - av = mv

f(v F
)
Example
__ ..
• Find the equilibrium solution (τ,θ) of τ - mgl sin θ =Jθ
•

_
_ _

_
Overall Procedure

ENGR 4220/5220, Lecture 11


11
Example
2 .
• Linearize the differential_equation F - av =
mv, for nominal input force F
Example (continued)

• Simulink model of linearized equation


Example
..
• Linearize the differential equation
_
τ - mgl sin θ
=Jθ, for nominal input torque τ
Example
• Linearize the differential equation
, for a nominal input of u = 6
Example (continued)

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