Outline

Linearization of Nonlinear • First order approximation theorem.

• Linearization of state equation.
State Equations
• Linearization of output equation
• MAPLE commands.
M. Sami Fadali
Professor of Electrical Engineering
UNR

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Nonlinear State-space Model Example 7.5

• Lumped parameter system
Write the state-space equations for the 2-
D.O.F. anthropomorphic manipulator.

௡ ௠ ௟ 

் 
ଵ ଶ ௡ Link 2

்
ଵ ଶ ௟ Link 1

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 Equations of Motion Solution
m  m2 l12  m2l22  2m2l1l2 cos 2  m2l22  m2l1l2 cos 2  State vector
D    1 
 m2l22  m2l1l2 cos 2  m2l22  ଵ ଶ
        
2 
C ,     2 1 2
m l l sin 2 2 2 1

   2   x2 
 m l l sin  x1  
 
2 1 2 2 1

x    L 2 1 2              
2  
m  m2 gl1 sin 1   m2 gl2 sin 1   2 
m l l sin 2 m m gl sin m gl sin
2 2 1 2
 1 2 1 1 2 2 1
 
g    1 
 2
 
 m2l1l2 sin2 1
2 
  m2 gl2 sin1 2  

 m2 gl2 sin 1   2  
0
  u
mi li   masses (lengths) of two links.
 L

g  acceleration due to gravity. 1  m2l22 m2l22  m2l1l2 cos 2  

,    vectors of angular positions and velocities respectively. L 
det(D) m2l22  m2l1l2 cos 2 

m1  m2 l1  m2l2  2m2l1l2 cos 2 
2 2

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Linear Approximation Linearization of State Equations

First order approximation • Approximate nonlinear state equations by
linear state equations for small ranges of the
ଶ
଴ control and state variables.
௫బ • The linear equations are based on the first
80

଴ = constant order approximation.

଴ 60

଴ 40 ଶ
଴
= perturbation from the ଵ ௫
20 బ
constant ଴ 0 constant,
଴ ଴ perturbation.
0 2 4 6 8

଴ • Approximation Error of order ଶ

7
• Acceptable for small perturbations. 8
 Multivariable Case Nonlinear State Equation
First order approximation First order approximation
 fi f
଴ ଵ ௡ f i  x, u   f i  x 0 , u 0   x1  ...  i x
ଵ ࢞
బ
௡ ࢞
బ  x1  x ,u   xn  x ,u  n
ଶ
0 0 0 0

்  fi f
଴ ଵ଴ ଶ଴ ௡଴  u1  ...  i u , i  1,, n
• Perturbation Vector  u1  x ,u 
0 0
 um  x ,u  m 0 0

்
ଵ ଶ ௡
f f
ଵ ଵ଴ ଶ ଶ଴ ௡ ௡଴
் f  x, u   f  x 0 , u 0   x  u
 x  x ,u   u  x ,u 
measure of the length or "size" of the 0 0 0 0

perturbation vector (assumed negligible)

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Matrix Form Derivative

Rewrite 1st order approximation in matrix form
• Perturbation from an equilibrium state
 x1 
 x  ଴ ଴
 f  fi  2 
f i x, u   f i x 0 , u 0    i ...   
 x1  x0 ,u0   xn  x0 ,u0    ଴
x 
 n1 
  xn 
 u1  • Perturbation from a nominal model
 u 
 f  fi   2 
 i ...    ௗ
 u1  x0 ,u0   um  x0 ,u0   
u  ௗ
 m1 
 um 
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Linearized State Equation State/Input Matrix
  f1  f1    x1    f1  f1 
 x  xn  x0 ,u0     x2 
...
 x ...
 
 1  x0 ,u0  f  1  x0 ,u0 
x n  x0 ,u 0  
x   ... ... ...    A  ... ... ... 
 f   x   x  x ,u  f 
 fn 0 0   f
 n ...   n1   n ... n

  x1  x0 ,u0   xn  x0 ,u0     xn    x1  x0 ,u0   xn  x0 ,u0  
  f1  f1 
  f1  f1   u1   u  um  x0 ,u0  
...
 u  u m  x0 ,u0    u 2 
...
f  1  x0 ,u0 
 1  x0 ,u0  B  ... ... ... 
 ... ... ...     u  x ,u  f 
  f
 f  u 
0 0

 fn  n ... n

 n ...   m1    u1  x0 ,u0   um  x0 ,u0  

 1  x0 ,u0 
u  u   u m 
m  x 0 ,u 0  

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Output Equation Output/Direct Transmission Matrix

yi  g i x, u   g i x 0 , u 0 
 x1 
 x   g1  g1 
 g  gi  2   x ...
 xn  x0 ,u0  
 i ...    g  1  x0 ,u0 
  x1  x0 ,u0   xn  x0 ,u0   
x 
C
 x  x ,u
 ... ... ... 
 n1  0 0   g  gl 
 xn   l
... 
  x1  x0 ,u0   xn  x0 ,u0  
 u1 
 u   g1  g1 
 g  gi  2   u ...
 um 
 i ...    g  1  x0 ,u0   x0 ,u 0  

  u1  x0 ,u0   um  x0 ,u0   
u 
D
 u  x ,u
 ... ... ... 
 m1  0 0   g  gl 
 um   l ... 

 1  x0 ,u0 
u  um 
 x0 ,u 0  
i  1,, l
y  Cx  Du 15 16
 Example: Nonlinear Spring/Damper Equilibrium
Equation of motion of nonlinear spring-mass-damper
• Set derivatives equal to zero in
= displacement = applied force ଴
ିଵ
଴ ଴
= mass of 1 Kg
ିଵ
= nonlinear damper constant
= inverse function
= nonlinear spring force. • Equilibrium is at zero velocity and the
1. Find equilibrium position corresponding to a force
position ଴ .
଴ in terms of the spring force
2. Linearize equation of motion about this equilibrium.
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Nonlinear State Equation Linearization

• State Vector ଵ ଶ
் ் Linearize about the equilibrium
• Control Input ଵ ଵ
ଵ
• Nonlinear state equation ଶ ଵ ௬బ ଶ
ଵ ௬బ
ଵ ଶ
ଵ
ଶ ଵ ଵ ଶ
ଶ
• Entries of state matrix: constants whose
values depend on the equilibrium.
• Originally linear terms do not change
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with linearization. 20
 Example MAPLE Example
• Nonlinear state equation  Jacobian( [x2,-2*(1+x1)*x2-4*x1^3+2*u],
ଵ ଶ [x1,x2] );
ଷ
ଶ ଵ ଶ ଵ
ଶ
ଶ ଵ ଵ
ଵ
 Jacobian( [x2,-2*(1+x1)*x2-4*x1^3+2*u], [u] );
• Obtain Jacobian matrices using MAPLE

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