Non Linearities Describing Function Method in Control System | Saturation

Backlash Dead Zone

Let us recall the basic definition of linear system. Linear systems are those where principle of superposition (if the
two inputs are applied simultaneously, then output will be the sum of two outputs) is applicable but in case of
highly non linear system we cannot apply principle of superposition. Analysis of different non linear system is very
difficult because of non linear behavior. Also we cannot use pole zero method in order to analyse non linear
systems because pole zero method is strictly restricted to linear systems. Instead of these disadvantages, there are
some advantages of having non linear systems and they are written below:
1. Non linear systems can perform better than the linear systems.
2. Non linear systems are less costly than the linear systems.
3. They are usually small and compact in size as compared to linear system.
In practice, all physical systems have some kind of non linearity. Sometimes it may even be desirable to introduce
a non linearity deliberately in order to improve the performance of a system and making its operation safer. At it
result, the system is more economical than linear system. One of the simplest examples of a system with an
intentionally introduced non linearity is a relay controlled or ON/OFF system. For instance, in a typical home
heating system, a furnace is turned ON when the temperature falls below a certain specified value and OFF when
the temperature exceeds another given value. Here we are going to discuss two different types of analysis or
method for analyzing the non linear systems. The two methods are written below and briefly discussed with the
help of example.
1. Describing function method in control system
2. Phase plane method in control system
Common Non Linearities
In most control systems we can not avoid the presence of certain types of non linearities in control system.
These can be classified as static or dynamic. A system for which there is a nonlinear relationship between input and
output, that does not involve a differential equation is called a static non linearity. On the other hand, the input
and output may be related through a non linear differential equation. Such a system is called a dynamic non
linearity. Now we are going to discuss various types of non linearities in control system:
1. Saturation non linerities
2. Friction non linerities
3. Dead zone non linerities
4. Relay (ON/OFF controller) non linerities
5. Backlash non linerities
Saturation Non Linearities
We have seen this type of non linearity many times. For example we have seen saturation in the magnetizing curve
of DC motor. In order to understand this type of non linearity let us discuss saturation curve or magnetizing curve
which is given below:
From the above curve we can see that the output showing linear behavior in the beginning but after that there is a
saturation in the curve which one kind of non linearity in the system. We have also shown approximated curve.
Same type of saturation non linearity also we can see in an amplifier for which the output is proportional to the
input only for a limited range of values of input. When the input exceeds this range, the output tends to become
non linearity.
Non Linear Friction
Anything which opposes the relative motion of the body is called friction. It is a kind of non linearity present in the
system. The common example in an electric motor in which we find coulomb friction drag due to the rubbing
contact between the brushes and the commutator.

Frictio
n may be of three types and they are written below:
I. Static Friction : In simple words, the static friction acts on the body when the body is at rest.
II. Dynamic Friction : Dynamic friction acts on the body when there is a relative motion between the surface
and the body.
III. Limiting Friction : It is defined as the maximum value of limiting friction that acts on the body when it is at
rest. Dynamic friction can also be classified as (a) Sliding friction (b) Rolling friction. Sliding friction acts
when two bodies slides over each other while rolling acts when the bodies rolls over another body. In
mechanical system we have two types of friction namely (a) Viscous friction (b) Static friction.
Dead Zone Non Linearities
This type of non linearity is shown by various electrical devices like motors, DC servo motors, actuators etc. Dead
zone non linearities refer to a condition in which output becomes zero when the input crosses certain limiting
value.
Relays (ON/OFF Controller) Non Linearities
Electromechanical relays are frequently used in control systems where the control strategy requires control signal
with only two or three states. This is also called as ON/OFF controller or two state controller.

Relay Non Linearity (a) ON/OFF (b) ON/OFF with Hysteresis (c) ON/OFF with Dead Zone. Fig (a) shows the ideal
characteristics of a bidirectional relay. In practice relay will not respond instantaneously. For input currents
between the two switching instants, the relay may be in one position or other depending upon the previous history
of the input. This characteristic is called ON/OFF with hysteresis that shows in Fig (b). A relay also has a definite
amount of dead zone in practice that show in Fig (c). The dead zone is caused by the fact that the relay field
winding requires a finite amount of current to move the armature.
Backlash Non Linearities
Another important non linearity commonly occurring in physical system is hysteresis in mechanical transmission
such as gear trains and linkages. This non linearity is somewhat different from magnetic hysteresis and is
commonly reffered to as backlash non linearities. Backlash in fact is the play between the teeth of the drive
gear and those of the driven gear. Consider a gear box as shown in below figure (a) having backlash as illustrated
in fig (b).
 Fig (b) shows the teeth A of the driven gear located midway between the teeth B 1, B2 of the driven gear. Fig (c)
gives the relationship between input and output motions. As the teeth A is driven clockwise from this position, no
output motion takes place until the tooth A makes contact with the tooth B 1 of the driven gear after travelling a
distance x/2. This output motion corresponds to the segment mn of fig (c). After the contact is made the driven
gear rotates counter clockwise through the same angle as the drive gear, if the gear ratio is assumed to be unity.
This is illustrated by the line segment no. As the input motion is reversed, the contact between the teeth A and B 1
is lost and the driven gear immediately becomes stationary based on the assumption that the load is friction
controlled with negligible inertia. The output motion therefore causes till tooth A has travelled a distance x in the
reverse direction as shown in fig (c) by the segment op. After the tooth A establishes contact with the tooth B 2, the
driven gear now mores in clockwise direction as shown by segment pq. As the input motion is reversed the
direction gear is again at standstill for the segment qr and then follows the drive gear along rn.
Describing Function Method of Non Linear Control System
The describing function method in control system was invented by Nikolay Mitrofanovich Kryloy and Nikolay
Bogoliubov in year of 1930 and later it developed by Ralph Kochenburger.
Describing function method is used for finding out the stability of a non linear system of all the analytical
methods developed over the years for non linear control systems, this method is generally agreed upon as being
the most practically useful. This method is basically an approximate extension of frequency response methods
including Nyquist stability criterion to non linear system. The describing function method of a non linear system
is defined to be the complex ratio of amplitudes and phase angle between fundamental harmonic components of
output to input sinusoid. We can also called sinusoidal describing function. Mathematically,

Where, N = describing function, X = amplitude of input sinusoid, Y = amplitude of fundamental harmonic

component of output, φ1 = phase shift of the fundamental harmonic component of output. Let us discuss the basic
concept of describing function of non linear control system. Let us consider the below block diagram of a non linear
 system, where G1(s) and G2(s) represent the linear element and N represent the non linear element.

Let us assume that input x to the non linear element is sinusoidal, i.e, For this input, the
output y of the non linear element will be a non sinusoidal periodic function that may be expressed in terms of

Fourier series as Most

of non linearities are odd symmetrical or odd half wave symmetrical; the mean value Y 0 for all such case is zero

and therefore output will be, As

G1(s) G2(s) has low pass characteristics, it can be assumed to a good degree of approximation that all higher
harmonics of y are filtered out in the process, and the input x to the nonlinear element N is mainly contributed by
fundamental component of y i.e. first harmonics. So in the describing function analysis, we assume that only the
fundamental harmonic component of the output. Since the higher harmonics in the output of a non linear system
are often of smaller amplitude than the amplitude of fundamental harmonic component. Most control systems are
low pass filters, with the result that the higher harmonics are very much attenuated compared with the
fundamental harmonic component.
Hence, y1 need only be considered.

We can write y1(t) in the form,

Where by using phasor,

The coefficient A1 and B1 of the Fourier series are given by-

From definition of describing function we have,

Let us find out describing function for these non linearities.

Describing Function for Saturation Non Linearity

We have the characteristic curve for saturation as shown in the given figure.

Let us take

input function as Now from the curve we can define the output as:

Let us first calculate Fourier series constant A1.

On substituting the value of the output in the above equation and

integrating the function from 0 to 2π we have the value of the constant A1 as zero. Similarly we can calculate the
value of Fourier constant B1 for the given output and the value of B1 can be calculated as,
The phase angle for the describing function can be calculated as Thus the

describing function for saturation is

Describing Function for Ideal Relay
We have the characteristic curve for ideal relay as shown in the given figure.

Let us take input function as

Now from the curve we can define the output as

The output periodic function has odd symmetry :

Let us first calculate Fourier series constant A1.

On substituting the value of the output in the above equation and integrating the function from 0 to 2π we have
the value of the constant A1 as zero. Similarly we can calculate the value of Fourier constant B 1 for the given output
and the value of B1 can be calculated as
On substituting the value of the output in the above equation y(t) = Y we have the value of the constant B 1

And the phase angle for the describing function

can be calculated as Thus the describing function for an ideal relay is

Describing Function for Real Relay (Relay with Dead Zone)

We have the characteristic curve for real realy as shown in the given figure. If X is less than dead zone Δ, then the
relay produces no output; the first harmonic component of Fourier series is of course zero and describing function
is also zero. If X > Δ the relay produces the output.

Let us

take input function as Now from the curve we can define the output as

The output
periodic function has odd symmetry : Let us first calculate Fourier series constant A1.

On substituting the value of the output in the above equation and

integrating the function from 0 to 2π we have the value of the constant A 1 as zero. Similarly we can calculate the
value of Fourier constant B for the given output and the value of B can be calculated as

Due to the symmetry of y, the coefficient B1 can be calculated as follows,

Therefore, the describing function is

Describing Function for Backlash Non Linearity

We have the characteristic curve for backlash as shown in the given figure. Let us take input function as
Now from the curve we can define the output as

Let us first calculate Fourier series

constant A1. On substituting the value of the output in the above

equation and integrating the function from zero to 2π we have the value of the constant A1 as

Similarly we can calculate the value of Fourier constant B for the

given output and the value of B 1 can be calculated as On substituting

the value of the output in the above equation and integrating the function from zero to pi we have the value of the

constant B1 as We can easily calculate the

describing function of backlash from below equation