Lecture 2: Phase plane analysis

Nonlinear Control
Part of Module CY3H2 Dr. Victor M. Becerra
University of Reading School of Systems Engineering Last modied: January 2009

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Lecture 2: Phase plane analysis

Phase plane analysis

Consider a second order system x1 = f1 (x1 , x2 ) x2 = f2 (x1 , x2 ) (1)

The state space of a second order system is a plane having the states x1 and x2 as its co-ordinates. This plane is called the phase plane.

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Lecture 2: Phase plane analysis

Phase plane analysis

Given an initial condition x(0) = x0 , equation 1 denes a solution x(t). As time t varies from zero to innity, the solution x(t) can be represented as a curve in the phase plane. Such a curve is called a phase plane trajectory. If we want to consider a range of trajectories starting from dierent initial conditions, then the set of curves on the phase plane is known as a phase portrait. We can develop the phase portraits by hand or by means of software packages such as Matlab.

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Lecture 2: Phase plane analysis

Phase plane analysis

Through a phase plane plot, we can visualise the behaviour of nonlinear systems. For example, we can visualise the limit cycle exhibited the Van der Pol oscillator.

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Lecture 2: Phase plane analysis

Types of equilibrum points

Consider a second order nonlinear system with dierentiable right hand side functions f1 and f2 . x1 = f1 (x1 , x2 ) x2 = f2 (x1 , x2 ). The Jacobian matrix has the form J=
f1 x1 f2 x1 f1 x2 f2 x2

(2)

(3)

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Lecture 2: Phase plane analysis

Types of equilibrum points

The Jacobian matrix of a second order system has two eigenvalues, which are either both real or complex-conjugate. An equilibrium point of a second order system can be a Node when both eigenvalues are real and of the same sign. The node is stable when the eigenvalues are negative and unstable when they are positive; Saddle when eigenvalues are real and of opposite signs. The saddle is always unstable; Focus (sometimes called spiral point) when eigenvalues are complex-conjugate; The focus is stable when the eigenvalues have negative real part and unstable when they have positive real part.
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Lecture 2: Phase plane analysis

Types of equilibrum points

unstable node

stable node stable focus

unstable focus

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Lecture 2: Phase plane analysis

Limit cycles
In the phase plot of the Van der Pol oscilator, it is possible to observe that the system has an unstable equilibrium point at the origin. Moreover, there is a closed curve in the phase portrait. Trajectories inside the curve, or those outside it, all tend to the closed curve. This closed curve is an instance of the limit cycle phenomenon. In the phase plane, a limit cycle is dened as an isolated closed curve. Linear systems do not exhibit limit cycles.

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Lecture 2: Phase plane analysis

Kinds of limit cycles

According to the motion patterns of the trajectories near a limit cycle Stable limit circles: all trajectories in the vicinity of the limit cycle converge to it as t . Unstable limit cycle: All trajectories in the vicinity of the limit cycle diverge from it as t . Semi-stable limit cycle: Some of the trajectories in the vicinity of the limit cycle converge to it, while others diverge from it as t .

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Lecture 2: Phase plane analysis

Constructing phase portraits

Analytical method Consider the second order system: x1 = f1 (x1 , x2 ) x2 = f2 (x1 , x2 ) (4)

An analytical method to construct a phase portrait consists is of eliminating the time variable from the system model by dividing the two equations, such that: f1 (x1 , x2 ) dx1 = dx2 f2 (x1 , x2 ) And then solving this equation to nd a functional relationship between x1 and x2 .
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(5)

Lecture 2: Phase plane analysis

Example: analytical method

Consider the satellite control system shown in the gure.

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Lecture 2: Phase plane analysis

Example: analytical method

Suppose that the satellite thursters are red according to the control law: U if > 0 (6) U if < 0 As a rst step, suppose that the thrusters provide a positive torque U. The dynamics in this case are: u(t) = d = dt d =U dt Dividing the second equation by the rst equation: d U = d

(7)

(8)
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Lecture 2: Phase plane analysis

Example: analytical method

So that: d = Ud Integrating both sides: d = Ud (10) (9)

The integration results in the relationship: 2 = 2U + c where c is a constant. (11)

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Lecture 2: Phase plane analysis

Example: analytical method

When the thrusters provide a negative torque U, then we have that the following relationship can be found: 2 = 2U + c (12)

Noting that the switching occurs when changes sign, the switching line in the phase portrait is a vertical line at = 0. The two relationships found dene parabolic trajectories which are symmetric with respect to the switching line.

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Lecture 2: Phase plane analysis

Example: analytical method

By looking at the phase portrait one concludes that the system is marginally stable as the satellite will oscillate with periodic motion under this control law. .
parabolic trajectories

u=+U

u=U

switching line

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Lecture 2: Phase plane analysis

Method of the isoclines

Suppose we have a second order system x1 = f1 (x1 , x2 ) x2 = f2 (x1 , x2 ) In the phase plane, the slope of the trajectory is given by dx2 x2 f2 (x1 , x2 ) = = =m dx1 x1 f1 (x1 , x2 ) Now for some given m, we can solve this equation to get lines of constant slope (isoclines) If we draw enough isoclines we can infer trajectories in the phase space.
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Lecture 2: Phase plane analysis

Example: Method of the isoclines

In the case of the Van der Pol oscillator, we have:
2 x1 + (1 x1 )x2 =m x2 2 x1 + (1 x1 )x2 = mx2 2 x1 + (1 x1 )x2 = mx2 2 (m (1 x1 ))x2 = x1

So that the isocline equation is: x2 = x1 2 m (1 x1 )

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Lecture 2: Phase plane analysis

Example: Method of the isoclines

The gure shows the Van der Pol oscillator isocline for m = 1.
Van der Pol oscillator isocline for m=1 5 4 3 2 1 x2 0 1 2 3 4 5 5 0 x1 5

= 1 and

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Lecture 2: Phase plane analysis

Example: Method of the isoclines

The gure shows a phase portrait of the Van der Pol oscillator generated by Matlab. The little arrows indicate the direction of movement (the slope of the isocline) of the state in the phase plane.
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Lecture 2: Phase plane analysis

Example: Method of the isoclines

To run the above example from Matlab, >> vdpportrait

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