ME451: Control Theory (Radcliffe)

Fall 2004 Linearization Quiz Example

Name

A steel plant designer finds the following non-linear differential equation model for steel
billet velocity v (ft/sec) versus electric motor drive signal e (volts)

v& + 10v + v 2 = 5ve

(10 pts)

a) Find the equilibrium input throttle position e = eO corresponding to a billet operating

speed of v = vO = 5 ft/sec and enter it in the box below.
e0 =

(5 pts)

volts

b) Define a new set of variables defining deviations from the above equilibrium about
which a linear approximation for the above equation can be derived.

(10 pts)

c)Find the linearized ordinary differential equation in terms of the variables defined in b)
about the equilibrium point found in part a) and enter your result in the box below

Linearized Differential Equation(s)

___________ / 25 points

ME451: Control Theory (Radcliffe)

Fall 2004 Linearization Quiz Example

Name

Answers are
a) For equilibrium v& = 0 at vO = 5 ft / sec , so that
at equilibrium 10vO + vO2 = 5vO eO substituting value for vO = 5 ft / sec and solving for
eO , yields 10(5) + 5 2 = 5(5)eO or eO = (50 + 25) / 25 = 3 volts
b) The new deviation variables are v~ = (v vO ) = (v 5) and e~ = (e eO ) = (e 3)
d (v 5)
c) Linearizing the differential equation uses the identity v~& =
= v& and the
dt
equilibrium condition v&(vO , eO ) = 0 .
Writing the Taylor Series for the function v&(v, e) = 10v v 2 + 5ve yields
v&
v&
(
(e eO )
v&(v, e) = v&(vO , eO ) +
v vO ) +
v v =vO
e v =vO
e = eO

e
= 0 + [ 10 2vO + 5eO ]v~ + [5vO ]~
~
~
= [ 10 2(5) + 5(3)]v + [5(5)]e
e
= [ 5]v~ + [25]~

e = eO

so that the differential equation linearized about the operating point (vO , eO ) = (5,3) is
v~& = 5v~ + 25~
e

___________ / 25 points