ANALYSIS OF SYSTEM MODEL

OUTLINE

1. Mathematical Model : Examples

2. Stationary/Equilibrium Points
3. Linearization
4. Stability
5. Operating Points
1. MATHEMATICAL MODEL : EXAMPLES

inverted pendulum
Quadcopter Dynamics
Drug Distribution in the Body

zombie infection

Influenza Infection

T is the target cells, I is the infected cells and V is the influenza A virus
2. STATIONARY/EQUILIBRIUM POINTS

 Points x = xe in the state space is said to be an equilibrium points of the autonomous

system
x = f ( x)

if it has the property that whenever the state of the system starts at xe it
remains at xe for all future time.
Equilibrium Points : Roots of next equation

x = f ( xe ) = 0
2. STATIONARY (EQUILIBRIUM) POINT ANALYSIS

x(t ) = f ( x(t ), u (t ) ) u (t ) : input vector

: state vector
General State
x(t ) Space Model
y (t ) = h( x(t ), u (t )) y(t ) : output vector

Stationary/Equilibrium Points 0 = f ( xe , ue )
ye = h ( xe , ue )

( xe , ye , ue ) : Equilibrium Ponts
Example 1 :

x1 = x2
3
x
x2 = − x1 + − x2 + u
1
6
ue = 0
Equilibrium Points
( x1e , x2 e ) = (0, 0), ( 6, 0), (− 6, 0)
EXAMPLE 2 : MASS SPRING SYSTEM

my +  y + ky = mg

x1 = x2
mg
k  xe = ( , 0)
x2 = − x1 − x2 + g k
m m
To other equilibrium point

mg
z1 = x1 −  z1 = x1 z1 = z2
k
k 
z2 = x2  z2 = x2 z2 = − z1 − z2
m m
3. LINEARIZATION

Approximation Technique

Non-linear
x(t ) = f ( x(t ), u (t ) ) Linear Form?
Using Truncated Taylor Series
y (t ) = h( x(t ), u (t ))

Taylor Series : Approximation around point c

f "(c)
f ( x) = f (c) + f '(c)( x − c) + ( x − c) 2 + ...
2!
2. LINEARIZATION

x(t ) = x(t ) − x0
x = Ax + Bu
Define u(t ) = u(t ) − u0
y = C x + Du
y(t ) = y(t ) − y0
 f1 f1   f1 f1 
 x ( x0 , u0 ) ( x0 , u0 )   u ( x0 , u0 ) um
( x0 , u0 ) 
xn  1 
 1 
A=  B= 
   
 f n ( x0 , u0 ) f n  f n ( x0 , u0 ) f n
( x0 , u0 ) 
( x0 , u0 )   u1 um 
 x1 xn 
  h1 h1   h1 h1 
 x ( x0 , u0 ) xn
( x0 , u0 )   u ( x0 , u0 ) um
( x0 , u0 ) 
 1   1 
C=  D= 
   
 hp ( x , u ) hp
( x0 , u0 )   hp ( x , u ) hp
( x0 , u0 ) 
 x 0 0 xn   u 0 0 um 
 1   1 
4. STABILITY

Unstable :A model whose free response approaches ∞ as t →∞ is

said to be unstable.
Stable : If the free response approaches 0, the model is stable.

(System dynamics / William J. Palm III. – 2nd ed)

 Stable is “not easily moved, changed or destroyed”
(Oxford English Dictionary)

Stability and asymptotic stability of a trajectory

(Mathematical Systems Theory I, Springer 2005)

LYAPUNOV STABILITY
Examples:

Pendulum without friction

ml + mg sin  = 0
 + g sin  = 0
l

x 1 = x 2
 x1 = 
State Equation  
we
g
 2
x =  have x 2 = − sin x1
l
Lyapunov function

E =K+P

E = m(l ) + mgh
1 2

2
Where

 =  = x 2
h = l (1 − cos ) = l (1 − cos x1 )
Thus

E = ml x 2 + mg l (1 - cosx1 )
1 2 2
2
V ( x) = V  f ( x)
 V V 
=   f1 ( x), f 2 ( x)
T
,
 x1 x2 
 x2 
 
= mgl sin x1 , ml x2  g
2

− sin x1 
 l 
= mglx2 sin x1 − mglx2 sin x1 = 0
Example:
Pendulum with friction
ml + cl + mg sin  = 0
 c  g
 +  + sin  = 0
m l

 x1 =  x1 = x2
 
 2
x =  g c
x 2 = − sin x1 − x2
l m
 ml x2 + mgl (1 − cos x1 )  0 in D − 0
1 2 2
E = V ( x) =
2

 ( x ) = V  f ( x )
V
 V V 
=  f1 ( x ), f 2 ( x )
T
,
 x1 x 2 
 x2 

= mgl sin x1 , ml 2 x 2  g c 
− sin x1 − x 2 
 l m 
= −c l 2 x 22
 5. OPERATING POINTS

Stability Checking For Linear Time Invariant Dynamic System Model :

1. Location of Poles of Transfer Function
2. Location of Eigenvalues of Matrix A

Equilibrium Ponts (0, 0), ( 6, 0), (− 6, 0)

 x2   0 1
f  
f ( x) =  1  Jacobian Matrix = 1 2
 − x1 + x13 − x2  x  −1 + x1 −1
 6   2 
f 0 1
= 
1
Eigen values −  j
3 Stable
x x1 = 0  −1 −1 2 2

f 0 1 
=  Eigen values 1, −2 Unstable
x x1 = 6  2 −1
 TUGAS 2
Cari titik-titik diam (stationary) dari tiap persamaan berikut. Analisis kestabilan di tiap-tiap titik diam.

(3) Predator-prey System Model

 x
x = rx 1 −  −  xy y = −  y +  xy
 k
(4) Jelaskan, apa yang dimaksud dengan bifurcation dan chaos dalam analisis model matematika dinamik