Introduction Theory Classical oscillators Internal resonances Manlab demo Conclusion

A frequency domain method for the periodic solution

stability computation in Manlab 2.0
Journée modes non linéaires – 9 nov. 2010, Liège

O. Thomas♭ Arnaud LAZARUS♭

Sami KARKAR♯ Bruno COCHELIN♯ Christophe VERGEZ♯

♭
Laboratoire de Mécanique des Structures et
des Systèmes Couplés,
Cnam Paris,
olivier.thomas@cnam.fr

♯
Laboratoire de Mécanique et d’Acoustique
CNRS, Marseille
karkar@lma.cnrs-mrs.fr

http://manlab.lma.cnrs-mrs.fr
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Introduction Theory Classical oscillators Internal resonances Manlab demo Conclusion

Stability and bifurcations of structural systems: a crucial point

⊲ Equilibrium (fixed point) stability

Buckling of structural systems
Flutter instabilities
...

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Introduction Theory Classical oscillators Internal resonances Manlab demo Conclusion

Stability and bifurcations of structural systems: a crucial point

⊲ Equilibrium (fixed point) stability

⊲ Periodic oscillations stability
Buckling of structural systems
Auto-oscillations
Flutter instabilities
Non-linear vibrations
...
...

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Introduction Theory Classical oscillators Internal resonances Manlab demo Conclusion

Stability and bifurcations of structural systems: a crucial point

⊲ Equilibrium (fixed point) stability

⊲ Periodic oscillations stability
Buckling of structural systems
Auto-oscillations
Flutter instabilities
Non-linear vibrations
...
...
Numerically determine the stability of a solution in a continuation software context

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Introduction Theory Classical oscillators Internal resonances Manlab demo Conclusion

Computing the stability

⊲ Stability of fixed points

• Computation of the eigenvalues of the Jacobian of the dynamical system

⊲ Stability of periodic solutions

• Time domain methods: computation of the monodromy matrix Φ
Φ is a by-product of shooting continuation methods (AUTO software)
[Doedel & al.,1986]

Φ can be computed by a time integration over one period

[Nayfeh & Balachadran, 1995]

• Frequency domain method: Hill’s method

Celestial mechanics [Hill, 1886], [Poincaré, 1886]
Quantum mechanics [Killingbeck, 1986], [Deconinck & Kutz, 2006]
Structural mechanics [Villa & al., 2008], [Genta, 2005], [Lazarus & al., 2010]

Problem: computation of the eigenvalues of the infinite dimensional Hill matrix...

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Introduction Theory Classical oscillators Internal resonances Manlab demo Conclusion

Outline

⊲ Introduction

⊲ Theory

⊲ Classical oscillators
Forced duffing oscillator

⊲ Internal resonances
1:1 int. resonance in string oscillations
1:2 internal resonance

⊲ Manlab demo

⊲ Conclusion

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Introduction Theory Classical oscillators Internal resonances Manlab demo Conclusion

Stability of a periodic solution

⊲ Continuous-time N -dimensional dynamical systems (x ∈ RN ):

` ´
ẋ (t) = f x (t) , t, λ (1)

ẋ ?
• x: N -dimensional state vector
x0 (t)
• λ: control parameter
• x0 (t), T -periodic solution of (1):

x
x0 (t) = x0 (t + T ) and T = 2π/ω
y(t)
⊲ Perturbation y(t):
x(t)

x (t) = x0 (t) + y (t)

Will perturbed sol. x(t) remain in a

neighborhood of the orbit x0 (y(t) → 0) or be
repelled away from it ?
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Introduction Theory Classical oscillators Internal resonances Manlab demo Conclusion

Perturbation of the periodic solution

( ` ´
ẋ(t) = f x(t), t, λ
x(t) = x0 (t) + y(t)

ẏ (t) ≃ J (t) y (t)

with
∂f ` ´
J (t) = x0 (t) , t, λ0
∂x
⇓
J (t): N × N T -periodic Jacobian matrix
⇓
linear T -periodic linear system
⇓
Floquet theory

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Introduction Theory Classical oscillators Internal resonances Manlab demo Conclusion

Floquet theory
⊲ Governing equation of perturbed solution:

ẏ (t) ≃ J (t) y (t)

⊲ N linearly independent solutions yn (t):

N
X
y(t) = cn yn (t)
n=1

⊲ Floquet form:

N
(
yn (t) = pn (t) eαn t , X
⇒ y(t) = pn (t) eαn t
pn (t) = pn (t + T ) n=1

⊲ Stability: real part of Floquet exponents αn

(
∀n, ℜ(αn ) < 0 : x0 (t) is stable
∃n, ℜ(αn ) > 0 : x0 (t) is unstable

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Introduction Theory Classical oscillators Internal resonances Manlab demo Conclusion

Time domain: monodromy matrix

⊲ Monodromy matrix Φ:
Y (t + T ) = Y (t)Φ

with Y (t) = [y1 (t) y2 (t) . . . yN (t)]

⊲ Stability: moduli of the Floquet multipliers ρn

ρn : n-th eigenvalue of Φ
(
∀n, |ρn | < 1 : x0 (t) is stable
∃n, |ρn | > 1 : x0 (t) is unstable

⊲ Time computation of Φ:
(
Ẏ (t) = J(t)Y (t)
Y (0) = IN ⇒
Φ = Y (T )

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Introduction Theory Classical oscillators Internal resonances Manlab demo Conclusion

Stability and bifurcations

⊲ Floquet multipliers ρn / Floquet exponents αn :

1 2πk
ρn = eαn T ⇔ αn = ln ρn + i, k ∈ ±N
T T

ℑρn ℑρn ℑρn

ℜρn ℜρn ℜρn

1 1 1

ℑαn ℑαn ℑαn

ω/2 ω/2 6= ω/2

ℜαn ℜαn 6= ω/2 ℜαn

Simple bifurcation Period doubling Neimark Sacker

(pitchfork, saddle/node,
symmetry breaking...)
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Introduction Theory Classical oscillators Internal resonances Manlab demo Conclusion

Frequency domain: Hill’s method (1/2)

⊲ Governing equation of perturbed solution

(
ẏn (t) ≃ J (t) yn (t) ∂f ` ´
with J (t) = x0 (t) , t, λ0
yn (t) = pn (t) eαn t ∂x

⊲ Fourier expansion: x0 (t), J and pn are T -periodic, T = 2π/ω

H
X n o
{x0 (t), J(t), pn (t)} = xh h h
0 , J , pn e
ihωt

h=−H

⊲ Hill eigenvalue problem of size N (2H + 1) (Infinite-dimensional if H → +∞)

2 3
. .. .. .. .
6 .. . . . .. 7
6 7
6 · · · J 0 + iωI J −1 J −2 ··· 7
6 7
6 7
(H − sI) q = 0 with H = 6 · · ·6 J 1 J 0 J −1 ··· 7
7
2 1 0 − iωI
6 7
6 ··· J J J ··· 7
6 7
4 . . . . .. 5
.. .. .. .. .

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Frequency domain: Hill’s method (2/2)

⊲ If H = +∞: N independent families of eigensolutions

• Eigenvalues:

sln = αn + ilω, l ∈ ±N, n = 1, . . . , N

⊲ Stability: real part of Hill eigenvalues (ℜ(αn ) = ℜ(sln ))

(
∀n, l ℜ(sln ) < 0 : x0 (t) is stable
∃n, l ℜ(sln ) > 0 : x0 (t) is unstable

⊲ Well known problems if H is finite

• For a given n, some of the (2H + 1) eigenvalues sln are less converged
• Often badly predicted stability results

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Introduction Theory Classical oscillators Internal resonances Manlab demo Conclusion

Our method: look at the eigenvectors

⊲ N independent families of eigenvectors
8 h iT
>
>
> l
< q̂n = pn
−H−l
. . . p−1−l
n p0−l
n p1−l
n . . . pH−l
n , l ∈ ±{0, . . . H}, n = 1, . . . , N
H
X
p (t) = ph
ne
ihωt
, yn (t) = pn (t) eαn t
: n
>
>
>
h=−H

⊲ Sorting the N “most converged” eigenvalues

h iT
H = 10, 0 = p−10 . . . p−1 p0 p1 . . . p10
q̂n n n n n n

1
q0n
0.8
Contribution

0.6

0.4

0.2

0
−10 −5 0 5 10
Harmonics
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Introduction Theory Classical oscillators Internal resonances Manlab demo Conclusion

Our method: look at the eigenvectors

⊲ N independent families of eigenvectors
8 h iT
>
>
> l
< q̂n = pn
−H−l
. . . p−1−l
n p0−l
n p1−l
n . . . pH−l
n , l ∈ ±{0, . . . H}, n = 1, . . . , N
H
X
p (t) = ph
ne
ihωt
, yn (t) = pn (t) eαn t
: n
>
>
>
h=−H

⊲ Sorting the N “most converged” eigenvalues

h iT
H = 10, 1 = p−11 . . . p−2 p−1 p0 . . . p9
q̂n n n n n n

1
q1n
0.8
Contribution

0.6

0.4

0.2

0
−10 −5 0 5 10
Harmonics
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Introduction Theory Classical oscillators Internal resonances Manlab demo Conclusion

Our method: look at the eigenvectors

⊲ N independent families of eigenvectors
8 h iT
>
>
> l
< q̂n = pn
−H−l
. . . p−1−l
n p0−l
n p1−l
n . . . pH−l
n , l ∈ ±{0, . . . H}, n = 1, . . . , N
H
X
p (t) = ph
ne
ihωt
, yn (t) = pn (t) eαn t
: n
>
>
>
h=−H

⊲ Sorting the N “most converged” eigenvalues

h iT
H = 10, q̂n
−1
= p−9
n . . . p0n p1n p2n . . . p11
n

1
q−1
n
0.8
Contribution

0.6

0.4

0.2

0
−10 −5 0 5 10
Harmonics
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Introduction Theory Classical oscillators Internal resonances Manlab demo Conclusion

Our method: look at the eigenvectors

⊲ N independent families of eigenvectors
8 h iT
>
>
> l
< q̂n = pn
−H−l
. . . p−1−l
n p0−l
n p1−l
n . . . pH−l
n , l ∈ ±{0, . . . H}, n = 1, . . . , N
H
X
p (t) = ph
ne
ihωt
, yn (t) = pn (t) eαn t
: n
>
>
>
h=−H

⊲ Sorting the N “most converged” eigenvalues

h iT
H = 10, 2 = p−12 . . . p−3 p−2 p−1 . . . p8
q̂n n n n n n

1
q2n
0.8
Contribution

0.6

0.4

0.2

0
−10 −5 0 5 10
Harmonics
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Introduction Theory Classical oscillators Internal resonances Manlab demo Conclusion

Our method: look at the eigenvectors

⊲ N independent families of eigenvectors
8 h iT
>
>
> l
< q̂n = pn
−H−l
. . . p−1−l
n p0−l
n p1−l
n . . . pH−l
n , l ∈ ±{0, . . . H}, n = 1, . . . , N
H
X
p (t) = ph
ne
ihωt
, yn (t) = pn (t) eαn t
: n
>
>
>
h=−H

⊲ Sorting the N “most converged” eigenvalues

h iT
H = 10, q̂n
−2
= p−8
n . . . p1n p2n p3n . . . p12
n

1
q−2
n
0.8
Contribution

0.6

0.4

0.2

0
−10 −5 0 5 10
Harmonics
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Introduction Theory Classical oscillators Internal resonances Manlab demo Conclusion

Our method: look at the eigenvectors

⊲ N independent families of eigenvectors
8 h iT
>
>
> l
< q̂n = pn
−H−l
. . . p−1−l
n p0−l
n p1−l
n . . . pH−l
n , l ∈ ±{0, . . . H}, n = 1, . . . , N
H
X
p (t) = ph
ne
ihωt
, yn (t) = pn (t) eαn t
: n
>
>
>
h=−H

⊲ Sorting the N “most converged” eigenvalues

h iT
H = 10, 10 = p−20 . . . p−11 p−10 p−9 . . . p0
q̂n n n n n n

1
q10
n
0.8
Contribution

0.6

0.4

0.2

0
−10 −5 0 5 10
Harmonics
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Introduction Theory Classical oscillators Internal resonances Manlab demo Conclusion

Our method: look at the eigenvectors

⊲ N independent families of eigenvectors
8 h iT
>
>
> l
< q̂n = pn
−H−l
. . . p−1−l
n p0−l
n p1−l
n . . . pH−l
n , l ∈ ±{0, . . . H}, n = 1, . . . , N
H
X
p (t) = ph
ne
ihωt
, yn (t) = pn (t) eαn t
: n
>
>
>
h=−H

⊲ Sorting the N “most converged” eigenvalues

= p0n . . . p9n p10 11 20 T
ˆ ˜
H = 10, q̂n
−10
n pn . . . pn
1
q−10
n
0.8
Contribution

0.6

0.4

0.2

0
−10 −5 0 5 10
Harmonics
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Introduction Theory Classical oscillators Internal resonances Manlab demo Conclusion

Our method: look at the eigenvectors

⊲ N independent families of eigenvectors
8 h iT
>
>
> l
< q̂n = pn
−H−l
. . . p−1−l
n p0−l
n p1−l
n . . . pH−l
n , l ∈ ±{0, . . . H}, n = 1, . . . , N
H
X
p (t) = ph
ne
ihωt
, yn (t) = pn (t) eαn t
: n
>
>
>
h=−H

⊲ Sorting the N “most converged” eigenvalues

• The N eigenvectors with l = 0

h iT
0 0 1 H
q̂n = p−H
n . . . p−1
n pn pn . . . pn

involves only the (2H + 1) Fourier components of pn

• Fourier series convergence: ph

n → 0 as h → H

N “most converged” Floquet exponent ⇔ N most symmetric eigenvectors

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Introduction Theory Classical oscillators Internal resonances Manlab demo Conclusion

The HBM/ANM/Hill method

⊲ The harmonic balance method
H
X H
X
x(t) = x0 + x(c)h cos hΩt + x(s)h sin hΩt
h=1 h=1

algebraic set of equations in x0 , x(c)h and x(s)h

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The HBM/ANM/Hill method

⊲ The harmonic balance method
H
X H
X
x(t) = x0 + x(c)h cos hΩt + x(s)h sin hΩt
h=1 h=1

algebraic set of equations in x0 , x(c)h and x(s)h

⊲ The Asymptotic Numerical Method [Potier-Ferry, Cochelin et al., 1990–]

• A continuation method to solve quadratic algebraic N.L. sets of equations
• Power series expansion of the branches
• Graphical tool coded in Matlab [Arquier, 2007], [Cochelin & Vergez, 2009]

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Introduction Theory Classical oscillators Internal resonances Manlab demo Conclusion

The HBM/ANM/Hill method

⊲ The harmonic balance method
H
X H
X
x(t) = x0 + x(c)h cos hΩt + x(s)h sin hΩt
h=1 h=1

algebraic set of equations in x0 , x(c)h and x(s)h

⊲ The Asymptotic Numerical Method [Potier-Ferry, Cochelin et al., 1990–]

• A continuation method to solve quadratic algebraic N.L. sets of equations
• Power series expansion of the branches
• Graphical tool coded in Matlab [Arquier, 2007], [Cochelin & Vergez, 2009]

⊲ Frequency domain stability computation: Hill method [Lazarus & Thomas, 2010]
• Quadratic recast of the Jacobian
• Automatic construction of the Hill matrix
• Sorting of the N most converged Floquet exponents

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Introduction Theory Classical oscillators Internal resonances Manlab demo Conclusion

The HBM/ANM/Hill method

⊲ The harmonic balance method
H
X H
X
x(t) = x0 + x(c)h cos hΩt + x(s)h sin hΩt
h=1 h=1

algebraic set of equations in x0 , x(c)h and x(s)h

⊲ The Asymptotic Numerical Method [Potier-Ferry, Cochelin et al., 1990–]

• A continuation method to solve quadratic algebraic N.L. sets of equations
• Power series expansion of the branches
• Graphical tool coded in Matlab [Arquier, 2007], [Cochelin & Vergez, 2009]

⊲ Frequency domain stability computation: Hill method [Lazarus & Thomas, 2010]
• Quadratic recast of the Jacobian
• Automatic construction of the Hill matrix
• Sorting of the N most converged Floquet exponents

A complete tool for continuation of periodic solutions

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Introduction Theory Classical oscillators Internal resonances Manlab demo Conclusion

Forced Duffing oscillator

⊲ Non-autonomous system: ω = λ

⊲ Governing equation

ü + µu̇ + ω02 u + Γu3 = F cos (ωt)

⊲ 1st. order D.S. + Quadratic recast: x(t) = [u(t) v(t) w(t)]t

8
< u̇ = v
>
> " #
0 1
v̇ = F cos (ωt) − µv − ω02 u − Γuw J(t) =
2 − 3Γu2 (t)
>
: 0 = w − u2 ,
> −ω 0 −µ

⊲ Fourier series expansion

H
X
x0 (t) = xh
0e
ihωt

h=−H

Computation of the xp0 and αn with the ANM/HBM/Hill method

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Introduction Theory Classical oscillators Internal resonances Manlab demo Conclusion

N.L. frequency response (H = 12)

⊲ Global frequency and phase response
5 0
SN
H1 b1
4 −0.2

Phase [π rad]
Amplitude

3 −0.4
Zoom 2
H1 b1 SN
2 Zoom 1 −0.6

1 SN −0.8

SN
0 −1
0 1 2 3 4 5 0 1 2 3 4 5
Excitation frequency ω Excitation frequency ω

⊲ Superharmonic resonances of order 2: full harmonic content

0.8
Zoom 1
1.2
H1 b1 H1 b2,3 0.6
1 SB SB

Amplitude
0.8 0.4
Amplitude

0.6 H2 b2,3
0.2
0.4

0.2 H0 b2 H0 b3 0

0
SB SB −0.2
−0.2 H0 H2 H4 H6 H8 H10 H12
0.69 0.7 0.71 0.72 0.73 0.74 Harmonic number
Excitation frequency ω

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Introduction Theory Classical oscillators Internal resonances Manlab demo Conclusion

Frequency versus time domain computations

⊲ Hill method = time domain method when increasing Ns (ρn = eαn T )

⊲ Hill method is faster than monodromy matrix method

HBM-ANM procedure Without stability Hill Time-domain

Ns = 100 Ns = 500 Ns = 1000
Computation time 1 (158 s) 1.38 (218 s) 1.39 (219 s) 2.76 (436 s) 4.46 (705 s)

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Introduction Theory Classical oscillators Internal resonances Manlab demo Conclusion

Continuation of Floquet exponents

⊲ The most converged Floquet exponents αn lead to the correct stability domain

⊲ Considering all eigenvalues sn lead to wrong results

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Introduction Theory Classical oscillators Internal resonances Manlab demo Conclusion

N.L. string oscillations

⊲ Both transverse motion polarizations considered

• v(x, t): vertical y-motion
• w(x, t): horizontal z-motion
y
⊲ von Kármán non-linearities
• Transverse / axial motion coupling z

• N (t): added tension

x
N (t) v(x, t)
⊲ Governing equation
8
>
>ρS v̈ + EIv,xxxx − (N0 + N )v,xx = fy ,
>
>
> w(x, t)
ρS ẅ + EIw,xxxx − (N0 + N )w,xx = fz ,
<
x

ES L “ 2
> ˆ ”
2
>
>
:N = v,x + w,x dx
>
>
2L 0

⊲ Discretization by modal expansion

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Introduction Theory Classical oscillators Internal resonances Manlab demo Conclusion

String first mode resonance

⊲ Excitation of y polarization PF − Ω=3.1537

30 z

25 y

20
Amplitude

15

10

0
3.1 3.15 3.2 3.25 3.3 3.35 3.4 3.45 3.5 3.55 3.6
Excitation frequency ω

z F cos Ωt

x
N (t) v(x, t)

w(x, t)
x

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Introduction Theory Classical oscillators Internal resonances Manlab demo Conclusion

String first mode resonance

⊲ Out-of-plane oscillations SN1 − Branch 1 − Ω=3.2992

30 z

25 y

y-polarization
20
Amplitude

15

10

5
z-polarization
0
3.1 3.15 3.2 3.25 3.3 3.35 3.4 3.45 3.5 3.55 3.6
Excitation frequency ω

z F cos Ωt

x
N (t) v(x, t)

w(x, t)
x

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Introduction Theory Classical oscillators Internal resonances Manlab demo Conclusion

String first mode resonance

⊲ Pitchfork bifurcation: 2 solutions SN1 − Branch 1 − Ω=3.2992

30 z

25 y
y-polarization
20
Amplitude

15

10 PF

5
z-polarization
0
3.1 3.15 3.2 3.25 3.3 3.35 3.4 3.45 3.5 3.55 3.6 SN2 − Branch 2 − Ω=3.2999
Excitation frequency ω

1
y
Branch 1
0.5
Phase [π rad]

0 Branch 2

−0.5

−1
3.1 3.15 3.2 3.25 3.3 3.35 3.4 3.45 3.5 3.55 3.6
Excitation frequency ω 21/27
Introduction Theory Classical oscillators Internal resonances Manlab demo Conclusion

A 1:2 internal resonance

⊲ A classical case with

• Period doubling bifurcations
• Neimark-Sacker bifurcations

⊲ Applications
By courtesy of Vierlo Sotham

• Spring pendulum, ships, surface waves, arches. . .

[Nayfeh et al., 1989, 2000. . . , Tien et al. 1994]

• Shells, Cymbales, Gongs, Steel Pans

[Thomas et al. 2005, 2007, Achong 90’]

⊲ Two quadratically coupled oscillators

(
ü1 + µ1 u̇1 + ω12 u1 + β1 u1 u2 = F1 cos Ωt
ü2 + µ2 u̇2 + ω22 u2 + β2 u21 = F2 cos Ωt

⊲ 1:2 internal resonance

ω2 ≃ 2ω1

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Introduction Theory Classical oscillators Internal resonances Manlab demo Conclusion

Excitation of the second mode: P.D. bifurcations

8
2
< ü1 + µ1 u̇1 + ω1 u1 + β1 u1 u2 = 0
> (
u1 (t) ≃ 0
>
ü2 + µ2 u̇2 + + ω22 u2 β2 u21 = F cos Ωt
>
>
: ω ≃ω , u2 (t) ≃ a2 cos(Ωt + ϕ2 )
2 1 Ω ≃ ω2
ω1=1 − ω2=2 − µ1=0.01 − µ2=0.02 − β1=0.1 − β2=0.1 − F=0.2 − H=10
6
Floquet multipliers
H1 u1
H2 u2 1

5 PD1 0.8
PD2
0.6
PD1,2
0.4
4
Harmonics amplitude

0.2

Im(ρn)
0
3
−0.2

−0.4
2 −0.6

−0.8

1 −1
−1.5 −1 −0.5 0 0.5 1
Re(ρn)

0
1.8 1.85 1.9 1.95 2 2.05 2.1
Excitation frequency ω

Two period-doubling bifurcations

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Introduction Theory Classical oscillators Internal resonances Manlab demo Conclusion

Excitation of the second mode: resonance curve

ω1=1 − ω2=2 − µ1=0.01 − µ2=0.02 − β1=0.1 − β2=0.1 − F=0.2 − H=10

6
8 „ «
H1 u1 < u1 (t) ≃ a2 cos Ω t + ϕ1
>
H2 u2 2
5 Period 1 sol. : u2 (t) ≃ a2 cos(Ωt + ϕ2 )
>
SN Period 2 sol.
SN
4 SN2 − ω=2.0883
Harmonics amplitude

5
u1
u2
3

2 0

PD1,2

−5
0 0.5 1 1.5 2
0 Time t/T [adim]
1.8 1.85 1.9 1.95 2 2.05 2.1
Excitation frequency ω

⊲ Comparisons with AUTO: (not shown)

Branches and bifurcations are well predicted

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Introduction Theory Classical oscillators Internal resonances Manlab demo Conclusion

Excitation of the first mode: bifurcations

ω1=1 − ω2=2 − µ1=0.005 − µ2=0.01 − β1=0.1 − β2=0.1 − F=0.1 − H=10

7
Floquet multipliers
H1 u1
0.4
H2 u2
6 0.3

0.2
5 SN2
Harmonics amplitude

0.1
SN3 NS1,2

Im(ρn)
4
0
NS1 NS2

3 −0.1

−0.2
2
SN1
−0.3
SN4
1 −0.4
0.8 0.85 0.9 0.95 1 1.05 1.1
Q.P. solution Re(ρn)

0
0.85 0.9 0.95 1 1.05 1.1
Excitation frequency ω

⊲ Comparisons with: the 1st. order MS. solution + AUTO (not shown)

The two Neimark-Sacker bifurcations are well predicted

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Introduction Theory Classical oscillators Internal resonances Manlab demo Conclusion

Manlab software demonstration

http://manlab.lma.cnrs-mrs.fr

ü1 + 2u1 − u2 + 0.5u31 = 0

(

ü2 + 2u2 − u1 = 0

1.45
SB
S31
U21
1.4
Frequency

1.35

1.3

SB
4

1.25
2 3
10 3.5 10
Energy

3
Frequency

2.5

2
Mode 2: S11−

1.5

Mode 1: S11+
1
−2 −1 0 1 2 3 4
10 10 10 10 10 10 10
Energy

[Kerschen, Peeters, Viguié et. al, MSSP, 2000] 26/27

Introduction Theory Classical oscillators Internal resonances Manlab demo Conclusion

Conclusions
⊲ An efficient harmonic-based method to compute stability of periodic solutions
• Hill method + eigenvectors sorting
• Purely frequency domain continuation method including stability of solutions

27/27
Introduction Theory Classical oscillators Internal resonances Manlab demo Conclusion

Conclusions
⊲ An efficient harmonic-based method to compute stability of periodic solutions
• Hill method + eigenvectors sorting
• Purely frequency domain continuation method including stability of solutions

⊲ Validations on standard oscillators

• Perfect results for Duffing, Van-der-Pol and Mathieu equations
• Validated on autonomous as well as non-autonomous systems
• Efficiency of Hill method compared to the monodromy matrix method

27/27
Introduction Theory Classical oscillators Internal resonances Manlab demo Conclusion

Conclusions
⊲ An efficient harmonic-based method to compute stability of periodic solutions
• Hill method + eigenvectors sorting
• Purely frequency domain continuation method including stability of solutions

⊲ Validations on standard oscillators

• Perfect results for Duffing, Van-der-Pol and Mathieu equations
• Validated on autonomous as well as non-autonomous systems
• Efficiency of Hill method compared to the monodromy matrix method

⊲ Validations on higher order systems

• The string (3 modes, 5 harmonics ⇒ a 143 d.o.f. D.S.)

27/27
Introduction Theory Classical oscillators Internal resonances Manlab demo Conclusion

Conclusions
⊲ An efficient harmonic-based method to compute stability of periodic solutions
• Hill method + eigenvectors sorting
• Purely frequency domain continuation method including stability of solutions

⊲ Validations on standard oscillators

• Perfect results for Duffing, Van-der-Pol and Mathieu equations
• Validated on autonomous as well as non-autonomous systems
• Efficiency of Hill method compared to the monodromy matrix method

⊲ Validations on higher order systems

• The string (3 modes, 5 harmonics ⇒ a 143 d.o.f. D.S.)

⊲ All bifurcation successfully tested

• Saddle-Node, Pitchfork, Symmetry-Breaking, Period-Doubling, Neimark-Sacker

27/27
Introduction Theory Classical oscillators Internal resonances Manlab demo Conclusion

Conclusions
⊲ An efficient harmonic-based method to compute stability of periodic solutions
• Hill method + eigenvectors sorting
• Purely frequency domain continuation method including stability of solutions

⊲ Validations on standard oscillators

• Perfect results for Duffing, Van-der-Pol and Mathieu equations
• Validated on autonomous as well as non-autonomous systems
• Efficiency of Hill method compared to the monodromy matrix method

⊲ Validations on higher order systems

• The string (3 modes, 5 harmonics ⇒ a 143 d.o.f. D.S.)

⊲ All bifurcation successfully tested

• Saddle-Node, Pitchfork, Symmetry-Breaking, Period-Doubling, Neimark-Sacker

⊲ In the future
• Tests on models with many degrees-of-freedom and more dense harmonic content
(finite-elements modelling of NEMS systems)
• Some tests need to be done on autonomous free vibration systems with essential
nonlinearities.

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