Gdansk University of Technology, Faculty of Ocean Engineering and Ship Technology

Modeling and Control of Dynamic Systems, Laboratory, M. H. Ghaemi

Exercise 5
Nonlinearity Effect and Nonlinear Systems
OBJECTIVE
The objective of this exercise is analyzing the effect of nonlinearities upon system
response both in qualitative and quantitative manners. It includes an introduction to
classical nonlinear elements observed in dynamic systems, their influence on the control
system response, linearization and comparison of linear and nonlinear systems with
taking into account stability and quality of control system.

REQUIREMENTS
Prerequisite knowledge:
You are expected to know the basic nonlinearities such as : backlash, deadzone, rate
limiter, relay, delay and saturation. Additionally, following topics are Prerequisite:
1. system nonlinearity and its sources,
2. dynamic linearization,
3. steady state characteristics,
4. stability of nonlinear systems.

LAYOUT
1. Recall the plant of Exercise 1. Examine the effect of nonlinearities caused by the
following nonlinear elements:
backlash
dead zone
saturation
Select the parameters of each elements so that to observe their effects.
2. Recall the closed-loop control system you have designed under Exercise 2. Add a
delay to the plant transfer function. Change the time delay to find the critical value,
when the closed-loop system becomes unstable.
3. Again consider the open-loop system (Exercise 1 or Exercise 2). Suppose that the
first spring stiffness is a function of displacement and the first damper coefficient is a
function of speed:

where

k1 ( x) = C k exp( x 2 )
z1 ( x& ) = C z exp( x& )
C k = k1
C z = z1

Linearize the system under MATLAB/SIMULINK around the nominal point f=500 N.
Make the necessary models under SIMULINK.

MATLAB/SIMULINK
The following new MATLAB commands and functions are necessary to be understood and
applied in this exercise:

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Gdansk University of Technology, Faculty of Ocean Engineering and Ship Technology

Modeling and Control of Dynamic Systems, Laboratory, M. H. Ghaemi

trim
linmod
linmod2

REPORT
In addition to those points mentioned under Layout, your report should include:
1. Plots which show the effect of nonlinearities and short discussion on their physical
meaning,
2. Comments on stability of the nonlinear system and effect of time delay for both
configuration: delay in the plant and delay on the feedback line,
3. Hand-on calculation of steady state characteristics,
4. Hand-on linearization of the open-loop system,
5. Comparison of nonlinear and linear system responses to step input.

EXAMPLE
Part One: Nonlinearity Effect
We recall the examples of Exercise 1 and 2 to examine the effect of nonlinearities upon
the open-loop system response. Then we will try to find the critical parameters of the
applied nonlinear element for closed-loop system.
The following figure gives the prepared model to examine the effect of saturation on the
open-loop system when 1 N external force is provided as the input signal (external force,
f). Let us neglect in this case the effect of disturbance.
1
m .s2 +z.s+k
M ass_Dam per_Spring
1

Scope

m .s2 +z.s+k
Step
1N

Saturation
+/- 0.5

M ass_Dam per_Spring1
M ux

The following plot compares the results for open-loop system with and without
saturation:
-3

x 10

Open-loop system response with and without saturation

7
6

Amplitude [m]

without saturation
5
4
3

with saturation

2
1
0

10

15
Time [sec]

37

20

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Gdansk University of Technology, Faculty of Ocean Engineering and Ship Technology

Modeling and Control of Dynamic Systems, Laboratory, M. H. Ghaemi

It shows the effect of external force saturation is to limit the obtained displacement.
Now, consider the closed-loop system of Exercise 2 with the presented PID controller in
the following block diagram and add a delay element to the plant transfer function:

In1

Disturbance
10 cm

Out1
In2

Scope

Subsystem

Command
0 cm

1
In1
z.s+k

PID

In2
Sum

PID Controller
Kp=8000, Ki=0, Kd=500

m.s2 +z.s+k
Sum1

Delay
0.0578 [sec]

Out1

g2

1
z.s+k
1/gd

The control system response is shown below:

-3

10

x 10

Closed-loop response with plant delay equal 0.0578

Amplitude [m]

-2

-4

10

15
Time [Sec]

38

20

25

Gdansk University of Technology, Faculty of Ocean Engineering and Ship Technology

Modeling and Control of Dynamic Systems, Laboratory, M. H. Ghaemi

For time delay equal or greater than 0.00578 [sec.], the control system will be unstable.
Of course, it is possible to change the PID controller parameter so that the system backs
to the stability area. But it is not the case we try to do under this exercise.
If a time delay equal 0.06 [Sec] is added to the feedback line, system will be unstable:
1
In1
zs+k

PID

In2
Sum

ms2+zs+k

PID Controller
Kp=8000, Ki=0, Kd=500

Sum1

Out1

g2

1
zs+k
Delay
0.06 [sec]

1/gd

Closed-loop response with feedback delay equal 0.06

0.15

0.1

Amplitude [m]

0.05

-0.05

-0.1

-0.15

-0.2

10

15

20

25

Time [sec]

Such a time delay on the feedback line can be occurred when we try to measure the
regulated signal and then send it to the controller for comparison with the command
signal and necessary changes. Therefore, we have to pay attention on selection of
measuring device and transducers/transformers selected for. This example shows the
meaning of feedback speed. Thee are all modeled in file Ex5_comp.mdl.
Part One: Linearization and Nonlinear System Response
Assume that spring stiffness is a function of displacement and damper coefficient is a
function of speed. For example:

k = k ( x) = C k exp( x)
z = z ( x& ) = C z exp( x& )

The differential equation of the plant can be presented as follows:

f (t ) f z [x& (t )] f k [x(t )] = m &x&(t )

where
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Gdansk University of Technology, Faculty of Ocean Engineering and Ship Technology

Modeling and Control of Dynamic Systems, Laboratory, M. H. Ghaemi

f z [x& (t )] = {C z exp[x& (t )]} x& (t )

f k [x(t )] = {C k exp[x(t )]} x(t )

We will try to linearize our mass-damper-spring system using trim, linmod and
linmod2 functions. But before that, let us solve the problem hands-on.
The associated linear system could be presented by linearization of f z x& (t ) and f k x (t ) :

f
f z [x& (t )] = z x& (t ) = [C z exp( x& ) (1 + x& )]0 x& (t ) = C z x& (t )
x& 0
f
f k [x(t )] = k x(t ) = [C k exp( x) (1 + x)]0 x(t )
x 0
(note that x& = x& ). This leads to the following linear differential equation:
m &x&(t ) + C z x& (t ) + [C k exp( x) (1 + x)]0 x(t ) = f (t )
where

x = x x 0

and index 0 denotes a selected working point in steady state condition.

The steady state characteristic of the plant is:

C k x ss exp( x ss ) = f ss

Assume that C k and C z are given as 100 and 50, respectively. The steady state
characteristic of the plant is shown in the next figure.
steady state characteristic of the plant
1
0.9
0.8

Displacement [m]

0.7
0.6
0.5
0.4
0.3
0.2
0.1
0

50

100

150
200
External Force [N]

250

300

Let us select the nominal point of f=100 N which gives x 0 0.57 . The linear differential
equation about this nominal point could be rewritten as:

100 &x&(t ) + 50 x& (t ) + 277.6 x(t ) = f (t )

Consider that f increases by 5% to 105 N. The response of the linearized system in

comparison with the nonlinear system is presented in the following figure:

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Gdansk University of Technology, Faculty of Ocean Engineering and Ship Technology

Modeling and Control of Dynamic Systems, Laboratory, M. H. Ghaemi

Step Response
0.8
Linear
Nonlinear

0.7

Displacement [m]

0.6
0.5
0.4
0.3
0.2
0.1
0

10

15

20

25

20

25

Time [sec]

The response of linear system ( x ) is given again below:

Linear System Step Response
0.03

0.025

Deltax [m]

0.02

0.015

0.01

0.005

10

15
Time [sec]

Please note that if we want to plot x, we have to add x0 to x .

Now, we do the same job using MATLAB/SIMULINK. At first we build our nonlinear
system (plant) under SIMULINK:
1

Ck

In1

Constant
x

u(1)*u(2)*exp(u(2))

1/m
Gain

Fcn1

Cz
Constant1
xprim

u(1)*u(2)*exp(u(2))
Fcn2

41

1
s
Integrator

xprim

1
s
Integrator1

1
Out1

Gdansk University of Technology, Faculty of Ocean Engineering and Ship Technology

Modeling and Control of Dynamic Systems, Laboratory, M. H. Ghaemi

We call this model as Ex5_nl. Secondly, by using trim function we find steady state
parameters for our plant. Trim enables steady state parameters to be found that satisfy
certain input, output and state conditions.
[x,u,y,xprim]=trim('Ex5_nl',[.57;0],105)
x=
0.5829
-0.0000
u=
104.4171
y=
0.5829
xprim =
1.0e-010 *
-0.0000
-0.1127
Thirdly, linmod obtains linear model:
[a,b,c,d]=linmod('Ex5_nl',x,u)
a=
0 1.0000
-2.8354 -0.5000
b=
0
0.0100
c=
1.0000
0
d=
0
Once again, the step response can be evaluated:
sys_l=ss(a,b,c,d);
[y_l,t_l]=step(sys_l);
Then the results of hand-on and MATLAB calculations can be compared. The transfer
function of hand-on calculation is

GL (s) =

0.01
s + 0.5s + 2.776
2

When the transfer function calculated by MATLAB is:

[num,den]=ss2tf(a,b,c,d);
g_l=tf(num,den)
g_l
Transfer function:
0.01
------------------s^2 + 0.5 s + 2.835
The results are almost the same.

***

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