535
Vol. 3 No. 3 (1980) 535-547
SUDHANGSHU B. KARMAKAR
Western Electric Company
Whippany, New Jersey 07981 U.S.A.
ABSTRACT. This paper presents a method of the determination of the steady state
to a given input is first obtained in the form of a series solution in the multi-
dimensional frequency domain. Conditions are then determined for which this
equivalent linear model of the nonlinear system is obtained. The steady state
i. INTRODUCTION.
This paper considers a nonlinear system described by the equation of the form
536 S.B. KARMAKAR
n-i
L(s) bnsn + bn-lS + +
bo
a
a5; b are constants, x(t) is the input to the nonlinear system and y(t) is
3 n
the response to it. Many physical systems encountered in practice can be reiated
to above kind of equation. We shall investigate the conditions under which a
bounded input to the system will produce a bounded output. This will lead to the
Equation (I.i) can be viewed as follows: Volterra [i] has shown that the
response y(t) can be represented as some functional of the input x(t). The
y(t)
I hl(t-l)X(l)dl
We assume a causal system, i.e., x(t)
+
I[h2(t-l,t-2)X(Tl)X(2)didT2+.
0 for t < 0. The limits of integrations
(2.1)
Yn(t)
I- -I
n-fold
hn(t-wl...t-Wn)X(Wl)X(W2)’’-X(n)dWld2--’dw n
y(t)
Z Yn (t) (2.2)
Volterra Kernel.
STEADY STATE RESPONSE OF A NONLINEAR SYSTEM 537
we get
define
where h(t)
L-lx
I h(t-Y)x()d
Hence from
(2.2)
Yl ] h(t-w)x(Y)d[
Y3 -a3L-i (I h(t-)x(w)d
1
-a3L
-i
-a
3 h(t-u)h(U-Tl)h(u-T2)h(u-T3)X(Tl)X(X2)x(3)dXldT2dx3du
Similarly
-a5 I’ ’I
6
h(t-u)h(U-Tl)’’’h(u-x5)x(T1)’’’x(T5)dTl’’’dT5du"
538 S.B. KARMAKAR
hl(t-T) h(t-T)
h2(t--Tl,t--T2) 0
h4(t-l...t-T 4) 0
I
h3 (t-l’t-2’t-3) =-a3 h(t-u)h(u-l)h(u-2)h(u-3)du
h5(t-T1--.t-Ts) 3a I h(t-u)h(v-u)h(U-l)...h(u-w5)dudv
a5 h(t-u)h(u-l)’’’h(u-5)du"
Higher order kernels can thus be determined by expanding further the
equation (3.1).
4. CONVERGENCY OF THE FUNCTIONAL EXPANSION
Let
maxlx(t) <_ X
0<t<
HX
where
Ih(t)lct H <
4
Y3 <
la31(Ilh(t)Idt), X3= la31H4X 3
STEADY STATE RESPONSE OF A NONLINEAR SYSTEM 539
Similarly
Let
Hence
Y HX + H(Ia31Y3+Ia51Y 5) (4.2)
and
la31 y3 la51 y5
i
X Y (4.3)
Let X
XI and Y YI corresponding to the value dX
dY
. Hence if 0 < X < X
I
then
0 < Y !
YI" Therefore in this above region a bounded input will produce a bounded
output.
YI can be determined from
4 2
5HIasIYI + 3HIa31YI i 0
corresponding to
dY
or
-3Hla31 +
9H2a +20Hla51
540 S.B. KARMAKAR
Therefore for x(t) < X1, the functional expansion (2.1) will be convergent.
REMARKS:
y(t) hn(T 1 T
2 .Tn)X(t--TI) ..x(t--T n )d 1 ..d
n
n=l
Y= cXnn
n=l
where
cn
I...IIh(T1 T2 Tn) IdTl d
n
radius of convergence X1, which in turn implies the convergence of the Volterra
maIx(t)l
0<t <
<
x
5. REVIEW OF MULTIDIMENSIONAL TRANSFORM.
H
n (Sls 2" ..s n ): |...lh(l e . )exp[-SlXl+S2X2+...+s
n T
n n
)]dx...dx
n
(5.1)
’STEADY STATE RESPONSE OF A NONLINEAR SYSTEM 541
the system described by (i.i) is excited with a set of n unit amplitude exponen-
y(t
n=l M
ml !m2 n
exp m s
I l+m2 s 2 + +mn n
s (5.3)
while M under the summation indicates that for each n the sum is to be taken over
all distinct values of m where i < m_ < m_ < m such that m_ + m_ + ...m n.
n +/- n +/- n
Thus to determine Hn(Sl,S 2...s n) we substitute the values of x(t) and y(t)
from (5.2) and (5.3), respectively, in the system equation (I.i) and equate the
coefficients of
n! exp(sl+s2 +. .+Sn)t
By substituting the values of y(t) and x(t) from (5.3) and (5.2), respectively,
in (I.i) the first three nonzero transfer functions are found to be-
1 (5 )
Hl(S I) L(Sl
-a
3 (5.5)
H3(Sl,S2,S 3) L(sI+s2+s3)L(Sl)L(s2)L(s3)
a
3
H5(Sl..-s 5) L(sI+s2+... s5)L(sI+s2+s 3)L(s 4)L(s 5)
+ a> (5.6)
L(sl+s2+...s5)L(sl)L(s2)...L(s5)
542 S.B. KARMAKAR
Subject to the convergency of (2.1) it is often enough to consider the first two
6. EXAMPLE.
function is given by
i i
L(s) H(s) e s e
s +2 +o
n n
series expansion (2.1) will be divergent, and the system will not have any
s +2
n
+n 0 will have real roots. If H is bounded, convergency of the
-
is a little more involved.
Let
n’ 8 nl- 2
STEADY STATE RESPONSE OF A NONLINEAR SYSTEM 543
henc e
-at
e
h(t) sin 8t
H’ e- at Is in 8tldt
Now
ax
ax e (a sin px-p cos px)
e sin pxdx 2
2
a +p
etc. Henc e
sin 8t < 0 in the intervals ,m
H
a
2
+6
2 lie I {e-m+e-2ml {e- 2m+ e- I
o
+e
-m
+ + 3m +
=2
a +6
2
e +2e-m+2e-2m+ -e
6
[2 m
o
] aw
6
2
+6
2
i
n- a2 + i -e
-m
l+e
Now -coth(-u)= coth u
-2u
hence
l-e
H’ 2
13
+6
2 coth()
Therefore,
-
n
coth
C
2
544 S.B. KARM
+ + 3y + tanh y A cos mt
+ + 4y y + y A cos mt (6.2)
i
=--4 n =2
Hence
2
Y1
XI
-3x0.64984
+0.94432
0.9717658
0.64984
x_+
hence
i
YI
9x(O
lOO.
(0"9717658) 3
64984)2
64984
0.9717658 -1
+ 2oo. 6498
5 (0"9717658)5
_2
15
---
1.49539- 0.305888- 0.1155438 1.07395
Volterra expansion can not exceed in absolute value of the linear term. Hence
the system will be stable for Ix(t)l < 11.07395 cos t I. If x(t) A, then for
A < 1.07309, the approximate value of the steady state response is given by
STEADY STATE RESPONSE OF A NONLINEAR SYSTEM 545
lira
t+
y(t) lira
t
Yl (t) + lira
t+ Y3 (t)
Sl A A
Yl(t)
lira lira
2
i
t Sl/0 s
I
+
2nS I + m2n n
YB(s,se,s3) HB(s,se,sB)X(s)X(se)X(s3)
From (5.5)
A3
a
3
Y3(Sl,S2,S3) L(sI+s2+s3)L(Sl)L(s2)L(s3 SlS2S 3
Where
2 2
L(s) s’ + 2a s +
n n
Y3(s)
( 2+2s nS+n2) +n
2+2o2+oo2)n
A1 A8
i 2 I
A A2
--are functions of
A
(s,,)
n
but do not contain any factor of the
I 8
i
form Hence
s
lira
Y3(t)=- lira
sA3a3 i
t+ s+o ( s
2
+2n+n2)
2
4nS2 n +_ s+
n2)
+ lim s +
s+o
546 S.B. KARMAKAR
Yss
For
If x(t) 6(t).
Yss
" i +
3.64
Yss lim
s+o s
2
S
2
+2 n s +n
+
=4,
lims+o
-
A
l
+
+
1
76--
B2
[8] we get
i i i i
Since d nt cntain any factr f the
i’ 2’ 3 frm-’s
ACKNOWLEDGMENT: The author gratefully acknowledges the assistance offered
REFERENCES
Special Issue on
Modeling Experimental Nonlinear Dynamics and
Chaotic Scenarios