POPOV'S CRITERION FOR STABILITY OF NONLINEARSYSTEMS V.M.

Popov obtained a frequency domain stability criterion, which is quite similar to the Nyquist criterion, as a sufficient condition for asymptotic stability of an important class of nonlinear systems. Popov's stability criterion applies to a closed-loop control system that consists of a nonlinear element and a linear time-invariant plant, as shown in Figure 3.2. The non linearity is described by a functional relation that must lie in the first and the third quadrants, as shown inFigure 3.3.

Figure 3.2: Popov's basic feedback control system

Figure 3.3: Nonlinear characteristics Many control systems with a single nonlinearity, in practice, can be modelled by the blockdiagram and the nonlinear characteristics of Figures 3.2 and 3.3, respectively.

Popov's stability criterion is based on the following assumptions: The transfer function G(s) of the linear part of the system, has more poles than zeros and there are no pole-zero cancellations. The nonlinear characteristic is bounded by k1 and k2 as shown in Figure 3.3, i.e.,

Now, the Popov's Criterion is stated as follows: The closed-loop system is asymptotically stable if the Nyquist plot of G( jw) does not intersect or enclose the circle, which is described by

where x and y denote the real and imaginary coordinates of the G(jw)-plane, respectively. Note that the Popov's Stability Criterion is sufficient but is not necessary. If the preceding condition is violated, it does not necessarily mean that the system is unstable. Popov's stability criterion can be illustrated geometrically, as shown in Figure 3.4.

Figure 3.4: Geometrical interpretation of Popov's criterion In practice, the system nonlinearities (in a great majority) are with k1= 0. In that case, the circle of Equation (3.28) is replaced by a straight line, given by

For stability, the Nyquist plot of G (jw) must not intersect this line. This fact is illustrated in Figure 3.5.

Figure 3.5: Popov's criterion for common nonlinearities For linear systems, k1= k2= k and it is interesting to observe that the circle of Equation (3.28) degenerates to the (- 1, f0) point and Popov's stability criterion becomes Nyquist's Criterion. Excercise 1. Consider a nonlinear system described by:

Investigate whether the system is stable or not.

2. Consider a second-order system with two non-linearties:

Assume that f1(0) =f2(0) = 0 and that f1(x1) and f2(x2) are real and differentiable. In addition, determine sufficient conditions for asymptotic stability of the equilibrium state x=0. [Hint: Use Krasovskii's theorem.]