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NON-LINEAR SYSTEMS
(Module 6)

Hari Kumar R
Assistant Professor
Department of Electrical Engineering
College of Engineering Trivandrum
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Agenda
2

 Introduction

 Properties of nonlinear systems

 Types of nonlinear systems

Hari Kumar R, Assistant Professor, Department of EE, CET

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Introduction
3

 Practical systems are sufficiently non-linear

 Linearized for mathematical simplicity
 Non-linear system response depends on the magnitude and type of input
 Non-linear system does not obey principle of superposition

Hari Kumar R, Assistant Professor, Department of EE, CET

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Introduction
4

 Laplace transform and Z- transform cannot be applied

 Stability depends on input and also the initial state
 Exhibits limit cycles
 Have jump resonance in the frequency response
 Output of non-linear systems will have harmonics and sub-harmonic
oscillations when excited by sinusoidal inputs
 Exhibits frequency entrainment and asynchronous quenching

Hari Kumar R, Assistant Professor, Department of EE, CET

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Behavior of Non-linear Systems

5

 Frequency Amplitude Dependence

 Multi-valued Responses
 Jump resonance
 Sub-harmonic Oscillations
 Self excited oscillations or limit cycles
 Frequency entrainment
 Asynchronous Quenching

Hari Kumar R, Assistant Professor, Department of EE, CET

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Frequency Amplitude Dependence

6

Nonlinear
 The differential equation describing the dynamics of Spring
the system is
mx  bx  kx  k ' x 3  0 M

x B

Hari Kumar R, Assistant Professor, Department of EE, CET

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Frequency Amplitude Dependence

7

k'  0

 The solution of the differential equation

represents a damped oscillation when the
k'  0
system is subjected to non-zero initial
condition.

k'  0

Hari Kumar R, Assistant Professor, Department of EE, CET

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Multi-valued Responses and Jump Resonance

8

 The response of the spring mass damper system with sinusoidal forcing
function exhibits multi-valued response and jump resonance.
mx  bx  kx  k ' x 3  P cos t

Hari Kumar R, Assistant Professor, Department of EE, CET

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Sub-harmonic Oscillations
9

 When a non-linear system is excited with sinusoidal function the response

will have steady state oscillations whose frequency is an integral sub-
multiple of the forcing frequency.

Hari Kumar R, Assistant Professor, Department of EE, CET

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Self Excited Oscillations or Limit Cycles

10

 The response of the non-linear system may exhibit oscillations with fixed
amplitude and frequency.
 Consider the system described by:
mx  b(1  x 2 ) x  kx  0
 The damping will be positive or negative depending the value of ‘x’
 Such a system may exhibit sustained oscillations called ‘self excited
oscillations or Limit cycles’
 The amplitude of the limit cycle depends on the initial condition

Hari Kumar R, Assistant Professor, Department of EE, CET

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Frequency entrainment
11

 If a periodic force of frequency ‘w’ is applied to a system capable of

exhibiting limit cycle of frequency ‘w0’, the phenomenon of beats is
observed.

Hari Kumar R, Assistant Professor, Department of EE, CET

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Asynchronous Quenching
12

 In a non-linear system that exhibits a limit cycle of frequency ‘w0’, it is

possible to quench the limit cycle oscillations by forcing the system at a
frequency ‘w1’, where ‘w1’ and ‘w0’ are not related to each other

Hari Kumar R, Assistant Professor, Department of EE, CET

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Types of Non-Linearities
13

r(t) + y(t)
Controller Actuators Plant
-

Sensors

 Inherent Nonlinearities: The non-linear behavior that is already present in

the system. eg. Saturation, Dead zone, Hysteresis, Backlash, Static friction,
Coulomb friction and other non-linear friction
 Intentional Nonlinearities: The non-linear elements that are added into a
system. eg. Relay

Hari Kumar R, Assistant Professor, Department of EE, CET

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Inherent Nonlinearities
14

 Saturation
 Dead zone
 Hysteresis
 Backlash
 Static friction, Coulomb friction and other non-linear friction
 Nonlinear Spring
 Compressibility of Fluid

Hari Kumar R, Assistant Professor, Department of EE, CET

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Saturation
15

 Most Common type of nonlinearity

 Due to limitations of physical
capabilities of their components

Hari Kumar R, Assistant Professor, Department of EE, CET

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Dead Zone
16

 Region in which the output is zero for

a given input

Hari Kumar R, Assistant Professor, Department of EE, CET

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Non-linear Friction
17

Hari Kumar R, Assistant Professor, Department of EE, CET

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Hysteresis
18

Hari Kumar R, Assistant Professor, Department of EE, CET

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Backlash
19

Hari Kumar R, Assistant Professor, Department of EE, CET