The document discusses the linearization technique for analyzing the behavior of solutions near equilibrium points of nonlinear systems of differential equations. It explains that nonlinear systems can be approximated by linearizing around equilibrium points using a Jacobian matrix. The eigenvalues of the Jacobian matrix then allow classifying the equilibrium point and predicting whether solutions will converge or diverge from it. This technique is demonstrated on examples, including the Van der Pol oscillator and pendulum equations.
this is the basic slide for sliding mode controller and how it works. for, any control engineer this this the most important technique to control the non linearity of a system and bring it back to a aymptotically stable system.
state space representation,State Space Model Controllability and Observabilit...Waqas Afzal
State Variables of a Dynamical System
State Variable Equation
Why State space approach
Block Diagram Representation Of State Space Model
Controllability and Observability
Derive Transfer Function from State Space Equation
Time Response and State Transition Matrix
Eigen Value
Visual Analysis of Non Linear Systems, Chaos, Fractals, Self Similarity
Please subscribe to my YouTube Channel for best training lectures:
https://www.youtube.com/channel/UCRkUJFOsyZG1E1LDWzUr_hw
this is the basic slide for sliding mode controller and how it works. for, any control engineer this this the most important technique to control the non linearity of a system and bring it back to a aymptotically stable system.
state space representation,State Space Model Controllability and Observabilit...Waqas Afzal
State Variables of a Dynamical System
State Variable Equation
Why State space approach
Block Diagram Representation Of State Space Model
Controllability and Observability
Derive Transfer Function from State Space Equation
Time Response and State Transition Matrix
Eigen Value
Visual Analysis of Non Linear Systems, Chaos, Fractals, Self Similarity
Please subscribe to my YouTube Channel for best training lectures:
https://www.youtube.com/channel/UCRkUJFOsyZG1E1LDWzUr_hw
It gives how states are representing in various canonical forms and how it it is different from transfer function approach. and finally test the system controllability and observability by kalman's test
Ch2 mathematical modeling of control system Elaf A.Saeed
Chapter 2 Mathematical modeling of control system From the book (Ogata Modern Control Engineering 5th).
2-1 introduction.
2-2 transfer function and impulse response function.
2-3 automatic control systems.
Transfer Function and Mathematical Modeling
Transfer Function
Poles And Zeros of a Transfer Function
Properties of Transfer Function
Advantages and Disadvantages of T.F.
Translation motion
Rotational motion
Translation-Rotation counterparts
Analogy system
Force-Voltage analogy
Force-Current Analogy
Advantages
Example
MODELLING AND SIMULATION OF INVERTED PENDULUM USING INTERNAL MODEL CONTROLJournal For Research
The internal model control (IMC) philosophy relies on the internal model principle, which states that control can be achieved only if the control system encapsulates, either implicitly or explicitly, some representation of the process to be controlled. In particular, if the control scheme is developed based on an exact model of the process, then perfect control is theoretically possible. Transfer function of Inverted Pendulum is selected as the base of design, which examines IMC controller. Matlab/simulink is used to simulate the procedures and validate the performance. The results shows robustness of the IMC and got graded responses when compared with PID. Furthermore, a comparison between the PID and IMC was shows that IMC gives better response specifications.
This project was developed for an Embedded systems class: we implemented a PID controller for a mechanical inverted pendulum. It was very interesting to experiment in practice with a simple control plant.
It gives how states are representing in various canonical forms and how it it is different from transfer function approach. and finally test the system controllability and observability by kalman's test
Ch2 mathematical modeling of control system Elaf A.Saeed
Chapter 2 Mathematical modeling of control system From the book (Ogata Modern Control Engineering 5th).
2-1 introduction.
2-2 transfer function and impulse response function.
2-3 automatic control systems.
Transfer Function and Mathematical Modeling
Transfer Function
Poles And Zeros of a Transfer Function
Properties of Transfer Function
Advantages and Disadvantages of T.F.
Translation motion
Rotational motion
Translation-Rotation counterparts
Analogy system
Force-Voltage analogy
Force-Current Analogy
Advantages
Example
MODELLING AND SIMULATION OF INVERTED PENDULUM USING INTERNAL MODEL CONTROLJournal For Research
The internal model control (IMC) philosophy relies on the internal model principle, which states that control can be achieved only if the control system encapsulates, either implicitly or explicitly, some representation of the process to be controlled. In particular, if the control scheme is developed based on an exact model of the process, then perfect control is theoretically possible. Transfer function of Inverted Pendulum is selected as the base of design, which examines IMC controller. Matlab/simulink is used to simulate the procedures and validate the performance. The results shows robustness of the IMC and got graded responses when compared with PID. Furthermore, a comparison between the PID and IMC was shows that IMC gives better response specifications.
This project was developed for an Embedded systems class: we implemented a PID controller for a mechanical inverted pendulum. It was very interesting to experiment in practice with a simple control plant.
Mathematical model analysis and control algorithms design based on state feed...hunypink
XZ-Ⅱtype rotary inverted pendulum is a typical mechatronic system; it completes real-time motion control using DSP motion controller and motor torque. In this paper, we recognize XZ-Ⅱrotational inverted pendulum and learn system composition, working principle, using method, precautions and software platform. We master how to build mathematical model and state feedback control method (pole assignment algorithm) of the one order rotational inverted pendulum system and finish simulation study of system using Mat lab. In the end we grasp debugging method of the actual system, and finish online control of the one order rotational inverted pendulum system as well.
Controller design of inverted pendulum using pole placement and lqreSAT Publishing House
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
Recall the two separate and apparently distinct situations that, not surprisingly, are resolved with the same mathematical model.
We ask instead
What does a negative velocity mean?
When is the particle at rest (velocity = 0) ?
When is the particle receding from the origin?
Let me tell you that
Each science (Physics, Chemistry, Biology, Psychology, Sociology, Computer Science, Medicine,… you name it)
Each sub-branch of each science
Each group or researchers in each sub-branch of each science
Each individual researcher in each group …
Linear Algebra may be defined as the form of algebra in which there is a study of different kinds of solutions which are related to linear equations. In order to explain the Linear Algebra, it is important to explain that the title consists of two different terms. The very first term which is important to be considered in the same, is Linear. Linear may be defined as something which is straight. Linear equations can be used for the calculation of the equation in a xy plane where the straight lines has been defined. In addition to this, linear equations can be used to define something which is straight in a three dimensional perspective. Another view of linear equations may be defined as flatness which recognizes the set of points which can be used for giving the description related to the equations which are in a very simple forms. These are the equations which involves the addition and multiplication.
Honest Reviews of Tim Han LMA Course Program.pptxtimhan337
Personal development courses are widely available today, with each one promising life-changing outcomes. Tim Han’s Life Mastery Achievers (LMA) Course has drawn a lot of interest. In addition to offering my frank assessment of Success Insider’s LMA Course, this piece examines the course’s effects via a variety of Tim Han LMA course reviews and Success Insider comments.
The Roman Empire A Historical Colossus.pdfkaushalkr1407
The Roman Empire, a vast and enduring power, stands as one of history's most remarkable civilizations, leaving an indelible imprint on the world. It emerged from the Roman Republic, transitioning into an imperial powerhouse under the leadership of Augustus Caesar in 27 BCE. This transformation marked the beginning of an era defined by unprecedented territorial expansion, architectural marvels, and profound cultural influence.
The empire's roots lie in the city of Rome, founded, according to legend, by Romulus in 753 BCE. Over centuries, Rome evolved from a small settlement to a formidable republic, characterized by a complex political system with elected officials and checks on power. However, internal strife, class conflicts, and military ambitions paved the way for the end of the Republic. Julius Caesar’s dictatorship and subsequent assassination in 44 BCE created a power vacuum, leading to a civil war. Octavian, later Augustus, emerged victorious, heralding the Roman Empire’s birth.
Under Augustus, the empire experienced the Pax Romana, a 200-year period of relative peace and stability. Augustus reformed the military, established efficient administrative systems, and initiated grand construction projects. The empire's borders expanded, encompassing territories from Britain to Egypt and from Spain to the Euphrates. Roman legions, renowned for their discipline and engineering prowess, secured and maintained these vast territories, building roads, fortifications, and cities that facilitated control and integration.
The Roman Empire’s society was hierarchical, with a rigid class system. At the top were the patricians, wealthy elites who held significant political power. Below them were the plebeians, free citizens with limited political influence, and the vast numbers of slaves who formed the backbone of the economy. The family unit was central, governed by the paterfamilias, the male head who held absolute authority.
Culturally, the Romans were eclectic, absorbing and adapting elements from the civilizations they encountered, particularly the Greeks. Roman art, literature, and philosophy reflected this synthesis, creating a rich cultural tapestry. Latin, the Roman language, became the lingua franca of the Western world, influencing numerous modern languages.
Roman architecture and engineering achievements were monumental. They perfected the arch, vault, and dome, constructing enduring structures like the Colosseum, Pantheon, and aqueducts. These engineering marvels not only showcased Roman ingenuity but also served practical purposes, from public entertainment to water supply.
Welcome to TechSoup New Member Orientation and Q&A (May 2024).pdfTechSoup
In this webinar you will learn how your organization can access TechSoup's wide variety of product discount and donation programs. From hardware to software, we'll give you a tour of the tools available to help your nonprofit with productivity, collaboration, financial management, donor tracking, security, and more.
June 3, 2024 Anti-Semitism Letter Sent to MIT President Kornbluth and MIT Cor...Levi Shapiro
Letter from the Congress of the United States regarding Anti-Semitism sent June 3rd to MIT President Sally Kornbluth, MIT Corp Chair, Mark Gorenberg
Dear Dr. Kornbluth and Mr. Gorenberg,
The US House of Representatives is deeply concerned by ongoing and pervasive acts of antisemitic
harassment and intimidation at the Massachusetts Institute of Technology (MIT). Failing to act decisively to ensure a safe learning environment for all students would be a grave dereliction of your responsibilities as President of MIT and Chair of the MIT Corporation.
This Congress will not stand idly by and allow an environment hostile to Jewish students to persist. The House believes that your institution is in violation of Title VI of the Civil Rights Act, and the inability or
unwillingness to rectify this violation through action requires accountability.
Postsecondary education is a unique opportunity for students to learn and have their ideas and beliefs challenged. However, universities receiving hundreds of millions of federal funds annually have denied
students that opportunity and have been hijacked to become venues for the promotion of terrorism, antisemitic harassment and intimidation, unlawful encampments, and in some cases, assaults and riots.
The House of Representatives will not countenance the use of federal funds to indoctrinate students into hateful, antisemitic, anti-American supporters of terrorism. Investigations into campus antisemitism by the Committee on Education and the Workforce and the Committee on Ways and Means have been expanded into a Congress-wide probe across all relevant jurisdictions to address this national crisis. The undersigned Committees will conduct oversight into the use of federal funds at MIT and its learning environment under authorities granted to each Committee.
• The Committee on Education and the Workforce has been investigating your institution since December 7, 2023. The Committee has broad jurisdiction over postsecondary education, including its compliance with Title VI of the Civil Rights Act, campus safety concerns over disruptions to the learning environment, and the awarding of federal student aid under the Higher Education Act.
• The Committee on Oversight and Accountability is investigating the sources of funding and other support flowing to groups espousing pro-Hamas propaganda and engaged in antisemitic harassment and intimidation of students. The Committee on Oversight and Accountability is the principal oversight committee of the US House of Representatives and has broad authority to investigate “any matter” at “any time” under House Rule X.
• The Committee on Ways and Means has been investigating several universities since November 15, 2023, when the Committee held a hearing entitled From Ivory Towers to Dark Corners: Investigating the Nexus Between Antisemitism, Tax-Exempt Universities, and Terror Financing. The Committee followed the hearing with letters to those institutions on January 10, 202
A Strategic Approach: GenAI in EducationPeter Windle
Artificial Intelligence (AI) technologies such as Generative AI, Image Generators and Large Language Models have had a dramatic impact on teaching, learning and assessment over the past 18 months. The most immediate threat AI posed was to Academic Integrity with Higher Education Institutes (HEIs) focusing their efforts on combating the use of GenAI in assessment. Guidelines were developed for staff and students, policies put in place too. Innovative educators have forged paths in the use of Generative AI for teaching, learning and assessments leading to pockets of transformation springing up across HEIs, often with little or no top-down guidance, support or direction.
This Gasta posits a strategic approach to integrating AI into HEIs to prepare staff, students and the curriculum for an evolving world and workplace. We will highlight the advantages of working with these technologies beyond the realm of teaching, learning and assessment by considering prompt engineering skills, industry impact, curriculum changes, and the need for staff upskilling. In contrast, not engaging strategically with Generative AI poses risks, including falling behind peers, missed opportunities and failing to ensure our graduates remain employable. The rapid evolution of AI technologies necessitates a proactive and strategic approach if we are to remain relevant.
How to Make a Field invisible in Odoo 17Celine George
It is possible to hide or invisible some fields in odoo. Commonly using “invisible” attribute in the field definition to invisible the fields. This slide will show how to make a field invisible in odoo 17.
Embracing GenAI - A Strategic ImperativePeter Windle
Artificial Intelligence (AI) technologies such as Generative AI, Image Generators and Large Language Models have had a dramatic impact on teaching, learning and assessment over the past 18 months. The most immediate threat AI posed was to Academic Integrity with Higher Education Institutes (HEIs) focusing their efforts on combating the use of GenAI in assessment. Guidelines were developed for staff and students, policies put in place too. Innovative educators have forged paths in the use of Generative AI for teaching, learning and assessments leading to pockets of transformation springing up across HEIs, often with little or no top-down guidance, support or direction.
This Gasta posits a strategic approach to integrating AI into HEIs to prepare staff, students and the curriculum for an evolving world and workplace. We will highlight the advantages of working with these technologies beyond the realm of teaching, learning and assessment by considering prompt engineering skills, industry impact, curriculum changes, and the need for staff upskilling. In contrast, not engaging strategically with Generative AI poses risks, including falling behind peers, missed opportunities and failing to ensure our graduates remain employable. The rapid evolution of AI technologies necessitates a proactive and strategic approach if we are to remain relevant.
Acetabularia Information For Class 9 .docxvaibhavrinwa19
Acetabularia acetabulum is a single-celled green alga that in its vegetative state is morphologically differentiated into a basal rhizoid and an axially elongated stalk, which bears whorls of branching hairs. The single diploid nucleus resides in the rhizoid.
The French Revolution, which began in 1789, was a period of radical social and political upheaval in France. It marked the decline of absolute monarchies, the rise of secular and democratic republics, and the eventual rise of Napoleon Bonaparte. This revolutionary period is crucial in understanding the transition from feudalism to modernity in Europe.
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Overview on Edible Vaccine: Pros & Cons with Mechanism
Equilibrium point analysis linearization technique
1. Equilibrium Point Analysis: Linearization Technique
TARUN GEHLOT (B.E, CIVIL, HONOURS)
Recall that only the solutions of linear systems may be found explicitly. The
problem is that in general real life problems may only be modeled by
nonlinear systems. In this case, we only know how to describe the solutions
globally (via nullclines). What happens around an equilibrium point
remains a mystery so far. Here we propose the to discuss this problem. The
main idea is to approximate a nonlinear system by a linear one (around the
equilibrium point). Of course, we do hope that the behavior of the
solutions of the linear system will be the same as the nonlinear one. This is
the case most of the time (not all the time!).
Example. Consider the Van der Pol equation
This is a nonlinear equation. Let us translate this equation into a system.
Set
. Then we have
The equilibrium points reduce to the only point (0,0). Let us find the
nullclines and the direction of the velocity vectors along them.
The x-nullcline is given by
Hence the x-nullcline is the x-axis.
The y-nullcline is given by
2. Equilibrium Point Analysis: Linearization Technique
TARUN GEHLOT (B.E, CIVIL, HONOURS)
Hence the y-nullcline is the curve
.
In the picture below we draw the nullclines and direction of the velocity
vectors along them.
Note that the arrangement of these curves tell us that the solutions
``circles'' around the origin. But it is not clear whether the solutions circle
and dye at the origin, circle away from the origin, or keep on circling
periodically. A very rough approach to this problem suggests that if we
rewrite the term
as
, then when (x,y) is close to (0,0), the term
is very small compared to -x+y. Hence a close system to the original
nonlinear system is
3. Equilibrium Point Analysis: Linearization Technique
TARUN GEHLOT (B.E, CIVIL, HONOURS)
which happens to be a linear system. The eigenvalues of this system are
. Hence the solutions of the linear system spiral away from the origin (since
the real part
is positive). So we suggest that the solutions of nonlinear system spiral
away from the origin (look at the picture below)
The solution started close to the equilibrium point, then it moved away.
Notice that in this case, the trajectory is getting close to what looks like a
cycle. To better see this, let us consider the graphs of the
function x(t) andy(t):
4. Equilibrium Point Analysis: Linearization Technique
TARUN GEHLOT (B.E, CIVIL, HONOURS)
and
So what if we want to generalize this to different systems. Is there a
technique that mimic what we did? The answer is yes. It is
called linearization.
Linearization Technique.
Consider the autonomous system
5. Equilibrium Point Analysis: Linearization Technique
TARUN GEHLOT (B.E, CIVIL, HONOURS)
And assume that
is an equilibrium point. So we would like to find the closest linear system
when (x,y) is close to
. In order to do that we need to approximate the functions f(x,y) and g(x,y)
when (x,y) is close to
. This is a similar problem to approximating a real valued function by its
tangent (around a point of course). From multivariable calculus, we get
and
when (x,y) is close to
. Then the nonlinear system may be approximated by the system
But since
is an equilibrium point, then we have
. Hence we have
6. Equilibrium Point Analysis: Linearization Technique
TARUN GEHLOT (B.E, CIVIL, HONOURS)
This is a linear system. Its coefficient matrix is
This matrix is called the Jacobian matrix of the system at the point
.
Summary of the linearization technique.
Consider the autonomous system
and
an equilibrium point.
Find the partial derivatives
Write down the Jacobian matrix
7. Equilibrium Point Analysis: Linearization Technique
TARUN GEHLOT (B.E, CIVIL, HONOURS)
Find the eigenvalues of the Jacobian matrix.
Deduce the fate of the solutions around the equilibrium point from the
eigenvalues. For example,
if the eigenvalues are negative or complex with negative real part, then the
equilibrium point is a sink (that is all the solutions will dye at the
equilibrium point). Note that if the eigenvalues are complex, then the
solutions will spiral around the equilibrium point.
If the eigenvalues are positive or complex with positive real part, then the
equilibrium point is a source (that is all the solutions will move away from
the equilibrium point). Note that if the eigenvalues are complex, then the
solutions will spiral away from the equilibrium point.
If the eigenvalues are real number with different sign (one positive and one
negative), then the the equilibrium point is a saddle. In fact, there will be
two solutions which approach the equilibrium point as
, and two more solutions which approach the equilibrium point as
. For the linear system theses solutions are lines, but for the nonlinear
system they are not in general. These four solutions are
called separatrix.Remark. When dealing with an autonomous system
without prior knowledge of the equilibrium point, then we advice to first
find the Jacobian matrix and plug the values for every equilibrium point.
This way you don't repeat the calculations over and over again.
Example. Consider the equation of the pendulum
8. Equilibrium Point Analysis: Linearization Technique
TARUN GEHLOT (B.E, CIVIL, HONOURS)
where
is the damping coefficient. See the picture below.
The equivalent system is
The equilibrium points are
, where
. The angles
, for
9. Equilibrium Point Analysis: Linearization Technique
TARUN GEHLOT (B.E, CIVIL, HONOURS)
, correspond to the pendulum at its lowest position, while
, for
, correspond to the pendulum at its highest position. The Jacobian matrix of
the system
Let us concentrate on the equilibrium positions (0,0) and
.
For (0,0), the Jacobian matrix is
For the sake of illustration let us fix the parameters. For example,
if we take
(undamped pendulum), then the eigenvalues are
which implies that the mass will oscillate around the lowest position in a
periodic fashion.
If
(dumped pendulum), m=1, and l=1. Then the eigenvalues are
10. Equilibrium Point Analysis: Linearization Technique
TARUN GEHLOT (B.E, CIVIL, HONOURS)
Since the real part is negative, the solutions will sink (dye) while oscillating
around the equilibrium point. Here we have the same behavior for the
linear and nonlinear system.
For
, the Jacobian matrix is
The eigenvalues are
Clearly we have two real eigenvalues with one positive and one negative.
So the solutions will always get away from the equilibrium position except
along one curve (the separatrix).