87-88

87/9/9 :

Solution 4.1:
i)

n( y ) is an odd memoryless nonlinear operator, so its describing function is independent

of . We consider two cases for the amplitude, a, of the sinusoidal input r as follow,
and compute the first harmonic of the steady-state part of n(r)
Let denote t . If a 1 then
3a 3 a
+
a
3a a
a
2 = 1 + 3 a2
n(r (t )) = a 3 sin 3 + sin = (
+ ) sin sin 3 (a ) = 4
2
4
2
4
a
2 4
3

If a > 1 then

1
a

= sin 1 : (a) =
/2

4 /2
4 3 3
a
n( a sin ) sin d =
0 ( a sin + sin ) sin d

0
2
a
a

1
1
1 1
1
4 a 1 1 1 1
3

(2sin ) sin d =
1 2 + a 3 sin 1
1 2
sin
2
a 2a
a
a 2a
a
a 2 2
8

1
1
1
2
1 1
1 1
1 2
1 2 (1 2 ) + a sin 1 +
1 2
8a
a
a
a
a a
a 2
2

1 2
1
1 1
(a ) =
3a 1 2 + 4
(3a 6) sin
2
a
a

ii) n( x) represents a hysteresis nonlinear operator which is not memoryless, thus its
describing function may depend on the frequency . However, through laborious but
routine calculations, it can be verified that (a ) is independent of and complex
indeed! In this case, if the input amplitude is less than , the output is simply equal to
zero
(a ) = 0 if a
If the input amplitude a exceeds , then the steady-state output is described by

ma sin m
m( a )

zss (t ) = ma sin + m
m( a )

ma sin m

,0 / 2
, / 2
, 3 / 2
,3 / 2 2
, 2 2

where (0, / 2) be the unique number such that

2
sin = 1
a

and let denote t for convenience. After some character-building computations, one
finds that if a , then
(a) = re + jim
where

re (a) =

m
2
2
1 2
2
sin ( 1) ( 1) 1 ( 1)
2
a
a
a

im (a) =

4m
( 1)
a a

You may also see Slotine (1991) or Vidyasagar (1993) for more detailed discussions.
Solution 4.2:

First we recall a few interesting points about the describing function of the hysteresis
nonlinearity in Exercise 4.1 part (ii) for = m = 1 (See Slotine (1991), figures 5.17 and
5.18)
1. (a ) = 0 if a = 1
2. (a ) 1 as 1/ a 0
and furthermore (a ) increases, when 1/ a decreases. Now, we plot the Nyquist diagram
of G (s ) and the graph of

1
for a 0 (See Fig. 1). One can see that the two plots
(a)

intersect at two points

L1 : (6.49, 30) L2 : (1.02, 0.0766)

Fig. 1. Plots of G ( j ) and

(a)

in Exercise 4.2

Two intersections and two limit cycles! However, note that one of them occurs at a
negative frequency which does not correspond to any other positive one!! This situation
arises due to the complexity of the given describing function. Now you can graphically find
the approximate frequency and amplitude corresponding to each limit cycle

a 1.025
L1 :
1.33rad / s

a 16.34
L2 :
7.38rad / s

Hence, we predict two limit cycles: one at an angular frequency of 1.33 rad/sec and
amplitude of 1.025 (L1), and another at an angular frequency of -7.38 rad/sec and amplitude
of 16.34 (L2). See Fig. 2 which depicts these two L.C., separately.
About the stability of L1, since it passes through the stable region to the unstable one while
the amplitude, a, is increasing, thus L1 is an unstable L.C. Similarly, you can analyze the
stability of L2. Does it go form the stable region to the unstable one?!

Fig. 2. Two nontrivial limit cycles in Exercise 4.2

Solution 4.3:

First we can change the feedback system to the following form

Fig. 3. Position servo mechanism after composition of the two nonlinearities

Note that

It is straightforward to show that the describing function for the nonlinearity in Fig. 3 (relay
with a dead-zone a ) is given by
a <
0

(a) = 4
2
1 2
a

a
a
The describing function has its maximum for
a = 2
which gives

 (a ) =

The Nyquist curve of G ( j ) crosses the negative real axis at o = 2 , Im(G ( j0 )) = 0 ,

for which G ( jo ) = 2 / 3 (See Fig. 4). Thus, we should expect no oscillations if
4
>
3

Fig. 4. Nyquist curve of

G ( j )

in Exercise 4.3

Solution 4.4:

The nonlinear system 

x + 2 x + px q ( x + x ) = 0 can be represented in the state space form
as follows
x1 = x2
x2 = 2 x2 px1 + q ( x1 + x2 )
This can be rewritten as
x1 = x2

()
x2 = px1 2 x2 qu
y = x + x
1
2

u = ( y ) = y y 3 / 2

The first part of this model, which has been asterisked, is a linear SISO system in which

1
0
0
X =
X + u

p 2
q
y = [1 1] X
qs q
.
s + 2s + p
Consequently, the given system can be put into the closed loop system shown in Fig. 5.
Now, it is sufficient to compute the describing function for the nonlinearity () and also
the frequency response of G ( s) , to investigate the possible existence of periodic solutions.
and the corresponding transfer function is G ( s ) =

(a sin t ) = a sin t +

a3 3
3a 3
a3
3
sin t = (a +
) sin t sin 3t (a ) = 1 + a 2
2
8
8
8

Fig. 5. The closed loop system in Exercise 4.4

The frequency response of the linear part of the closed loop system is indicated by

G ( j ) = q 2 + p p 2 2 j

f ( )

f ( ) = 4 2 + ( p 2 ) 2

Clearly, is always Re(G ) 0 and Im(G ) = 0 has a nonzero solution equal to = p 2 if

p > 2 . Therefore, the Nyquist diagram of G ( j ) will exhibit one of the two different
general forms, which have been shown in Fig. 6, according to the value of p .

Fig. 6. Nyquist diagram of G( j ) in Exercise 4.4 for (a) p < 2 and (b) p > 2

Note: If p > 2 then =

p 2 is the real axis crossover frequency and by replacing it into

q
q
the real part of G ( j ) we have Re(G ) = . Moreover, is the value of G ( j 0) .
p
2
Here, (a) is real function and clearly, its negative inverse is bounded via
1 < 1 (a ) < 0 . Thus, according to Fig. 6 only in the second case where p > 2 , it is
possible to have a nontrivial periodic solution with a nonzero frequency. This limit cycle
occurs at the intersection of G ( j ) and 1 (a ) on the negative real axis in Fig. 6 (b).
q
In other words, if 1 < q < 2 and p > 2 , we may predict a periodic solution at an
2
angular velocity of = p 2 and an amplitude which is the positive solution to the
following equation

1
8 2
q
( 1)
= a=
3 2
2
3
q
1+ a
8

Note that this L.C. is unstable. What about the intersection at = 0 ?!

Good Luck