Neglecting HOT, x0 + x f ( x0 ) + f ( x0 )x
ADVANCED CONTROL SYSTEM DESIGN 3
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Linearization:
Scalar homogeneous systems
x0 satisfies the differential equation x0 = f ( x0 )
This leads to x = [ f ( x0 )] x = a x
This leads to x = ax
where a = f ( x )
df
a2 = |x0 =1 = 2 x0 |x0 =1 = 2
dx
The linearized system: x = 2x x0 = 1
x = 2 x x0 = 1
Note: As the reference point changes, the
linearized approximation also changes!
ADVANCED CONTROL SYSTEM DESIGN 5
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Linearization:
General homogeneous systems
Homogeneous System:
X = f (X ) , [ f1 fn ] , [ x1 xn ]
T T
f f2 X x2
f
Taylor Series: f ( X 0 + X ) = f ( X 0 ) + X + HOT
X X 0
f
X 0 + X f (X0) + X f1 f1
X X 0 x x
f 1 n
X X A=
X X 0
X = A X f n f n
x1 xn
z State variables x1 x, x2 x
x20 = [ 0 0]
T
x10
T
z Operating Point:
0 1
x1
=
2c
0 x2
m X
A
X = f ( X ,U ) , f , X Rn , U Rm
Reference point: ( X 0 ,U 0 )
Taylor series expansion:
f ( X 0 + X , U 0 + U )
f f
= f ( X 0 ,U 0 ) + X + U + HOT
X ( X 0,U 0 ) U ( X 0 ,U 0 )
30 = [ 0 0 0]
T
10 2
T
0
1 0 0 0 1 (1/ I1 ) 0 0 1
= 0 0 0 + 0
0 2
2 2 (1/ I 2 )
3 0 0 0 3 0 0 (1/ I3 ) 3
X A X B U
(
U = VR WQ g sin + FAX + FTX / m )
( )
V = WP UR + g sin cos + FAY + FTY / m
W = UQ VP + g cos cos + ( F + F ) / m
AZ TZ
P = c1QR + c2 PQ+c3 ( L A + LT ) +c 4 ( N A + NT )
Q = c5 PR c6 ( P 2 R 2 ) + c7 ( M A + M T )
R = c8 PQ c2QR + c4 ( LA + LT ) + c9 ( N A + NT )
= P + Q sin tan + R cos tan
= Q cos R sin
= ( Q sin + R cos ) sec
X cos sin 0 cos 0 sin 1 0 0 U
Y = sin cos 0 0 1 0 0 cos sin V
Note: h = Z
Z 0 0 1 sin 0 cos 0 sin cos W
z Enforce: U = V = W = P = Q = R = = = zI = 0
z Solve for: U 0 , W0 , X 0 , Y0 , Z 0 , L0 , M 0 , N 0 , 0
z Verify: Y0 = L0 = M 0 = N 0 = 0
X X X X
X = U + W + E + T
U W E T
Y Y Y Y
Y = V + P + R + R
V P R R
Z Z Z Z Z Z
Z = U + W + W + Q + E + T
U W W Q E T
L L L L L
L = V + P + R + R + A
V P R R A
M M M M M M
M = U + W + W + Q + E + T
U W W Q E T
N N N N N
N = V + P + R + R + A
V P R R A
XU XW 0 g U
W
ZU ZW U0 0 X =
A= Q
MU + M W ZU M W + M W ZW M Q + MWU 0 0
0 0 1 0
X E X T Uc = E
T
Z E Z T
B=
M + M W Z E M T + M W Z T 1 X 1 X
E XU = , XW = etc.
0 0 m U m W