Computations of limit cycles via higher-order harmonic balanceapproximation

The detection of limit cycles arising from Hopf bifurcation phenomena by applying the harmonic balance method with different higher-order approximations is discussed. The results are presented using a graphical procedure that indicates clearly how the predictions of amplitude and frequency of a periodic solution can be improved by using higher and higher order approximations. Complete and explicit formulas for eighth-order harmonic balance approximation are provided     

机床无刷直流电机系统的分岔分析与控制

文章主要研究了机床无刷直流电机系统的Hopf分岔控制问题.首先,对系统进行分岔分析,通过计算极限环曲率系数判定系统的Hopf分岔类型;然后设计Washout滤波器对系统进行分岔控制,根据Hopf分岔理论给出使原系统Hopf分岔位置发生改变的参数条件,利用Normal Form方法计算出受控系统的Hopf分岔正规型,根据正规型的实部大小判定Hopf分岔类型,给出使原系统Hopf分岔类型发生改变的参数条件;并借助MATLAB软件对理论结果进行数值仿真,理论结果和数值仿真表明:控制器中的线性增益能使系统在所期望的参数值处发生Hopf分岔,甚至消除Hopf分岔,控制器中的非线性增益能改变原系统的Hopf分岔类型及极限环幅值的大小.研究结果对无刷直流电动机系统的工程实际具有一定的指导意义.     

规范形Qi系统的Hopf分岔分析及控制

文章研究了一个Qi系统的Hopf分岔控制问题.根据计算的极限环曲率系数,判定原系统的Hopf分岔类型,并采用washout滤波器控制该系统的分岔行为.首先讨论了控制器的线性增益对Hopf分岔点位置的影响,然后引入规范形计算方法,求出受控系统的Hopf分岔规范形.分析了规范形中系数对控制参数的选择原则所产生之影响,以及对Hopf分岔类型及极限环幅值的影响.理论和仿真结果表明,控制器的线性增益能使原系统的Hopf分岔点延迟或消失,而非线性增益能则改变极限环的稳定性和极限环幅值的大小.最后把washout滤波器和线性控制器的控制效果作了对比,发现washout滤波器比之线性控制器具有一定的优势.     

Bifurcation control of small‐world networks with delays VIA PID controller

In this paper, the problem of bifurcation control for a small‐world network model with time delay is studied. We first put forward a Proportional‐Integral‐Derivative (PID) feedback scheme to control the Hopf bifurcation of the network. The time delay is selected as the bifurcation parameter. The conditions of the stability and Hopf bifurcation are given for the controlled network. By using the center manifold theorem and the normal form theory, the direction and stability of bifurcating periodic solutions are confirmed. The feasible region of the parameters of the controller is determined. It is found that the bifurcation dynamics of the small‐world network are optimized by adjusting the parameters of the PID controller. Finally, a numerical example verifies the effectiveness of the designed PID controller, and the relationships between the onset of the Hopf bifurcation and the control parameters are obtained.     

Stability analysis of nonlinear multivariable Takagi-Sugeno fuzzycontrol systems

Points out how the nonlinearities involved in multivariable Takagi-Sugeno (T-S) fuzzy control systems could originate complex behavior phenomena, such as multiple equilibrium points or limit cycles, that cannot be detected using conventional stability analysis techniques. In the paper, the application of MIMO frequency-domain methods to predict the existence of multiple equilibria and of limit cycles are presented. The proposed method is based on the formulation of a Lur'e problem from the original structure of a T-S fuzzy system with a fuzzy controller. Furthermore, this technique makes straightforward the application of input-output stability techniques such as the multivariable circle criterion, also called the conicity criterion, and the harmonic balance method. Moreover, in the paper, the application of the harmonic balance method has been generalized to the case of a MIMO fuzzy system with asymmetric nonlinearities and improved by the decreasing conservatism. A new and more general stability index which could be used to perform a bifurcation analysis of fuzzy control systems is presented. The paper includes a collection of examples where the advantages of the proposed approach are made explicit comparing it to the input-output conicity criterion and the Lyapunov direct method     

极限环高阶分岔控制

分岔控制是非线性动力学研究的重要问题之一.Hopf分岔的控制与反控制已经得到较多的研究,但其二次分岔,特别是由一系列高阶分岔形成的分岔序列的控制,已有的工作还极少.对某存在极限环复杂分岔序列的二自由度非线性自治系统,通过与受共振激励的单自由度非线性系统耦合,成功抑制了系统中极限环高次分岔.为分岔序列的非线性控制提供了一个简单的例子.     

Hopf bifurcation control: A new approach

In this paper we find conditions to control a Hopf bifurcation in a class of nonlinear systems whose linear approximation has two eigenvalues on the imaginary axis, without assuming that the system is controllable. We use the center manifold theorem to project the dynamics on a two dimensional manifold, and design a controller that permits us to decide the stability and direction of the emerging periodic solution.     

Bifurcations and chaos in indirect field-oriented control of induction motors

Stability of indirect field-oriented control (IFOC) of induction motor drives is greatly influenced by estimated value of rotor time constant. By choosing estimation error of rotor time constant as bifurcation parameter, the conditions of generating Hopf bifurcation in IFOC drives are analyzed. Dynamic responses and Lyapunov exponents show that chaos and limit cycles will arise for some ranges of load torque with certain PI speed controller setting. Stable drives are required for conventional applications,but chaotic rotation can promote eflqciency or improve dynamic characteristics of drives. Thus, the study may be a guideline for designing a stable system or an oscillating system.     

Stability and Hopf bifurcation of a general delayed recurrent neural network.

In this paper, stability and bifurcation of a general recurrent neural network with multiple time delays is considered, where all the variables of the network can be regarded as bifurcation parameters. It is found that Hopf bifurcation occurs when these parameters pass through some critical values where the conditions for local asymptotical stability of the equilibrium are not satisfied. By analyzing the characteristic equation and using the frequency domain method, the existence of Hopf bifurcation is proved. The stability of bifurcating periodic solutions is determined by the harmonic balance approach, Nyquist criterion, and graphic Hopf bifurcation theorem. Moreover, a critical condition is derived under which the stability is not guaranteed, thus a necessary and sufficient condition for ensuring the local asymptotical stability is well understood, and from which the essential dynamics of the delayed neural network are revealed. Finally, numerical results are given to verify the theoretical analysis, and some interesting phenomena are observed and reported.     

Qi系统的Hopf分叉分析与幅值控制

通过非线性状态反馈,不改变Hopf分叉点,实现对四维Qi系统极限环的幅值控制．推导出Qi系统在第一类非零平衡点上产生Hopf分叉的条件,绘制第一类平衡点的分叉图．采用washout filter非线性控制律,利用中心流形定理对受控系统降维,得到极限环的幅值与控制增益之间的近似解析式．通过数值模拟以及幅值解析解与数值解的比较,验证幅值预测的正确性与控制的有效性．     

一类非线性动力系统的分叉分析与仿真

为了研究Langford系统中存在的复杂非线性现象,该文应用Hopf分叉定理和弗罗奎特理论,分析了该系统中的Hopf分叉和环面分叉现象.由于分叉现象的分析通常涉及到十分繁杂的计算,该文通过运用非线性动力系统的分叉分析工具软件,计算了系统的弗罗奎特因子,分析了该系统的动态稳定特性随系统参数及弗罗奎特因子的变化情况.仿真表明该方法用于分析高维非线性动力系统的分叉研究时,具有简单、便捷和精确的特点,能够满足一般非线性动力系统理论分析和仿真计算的要求.     

Local feedback stabilization and bifurcation control, II. Stationary bifurcation

Local feedback stabilization and bifurcation control of nonlinear systems are studied for the case in which the critical linearized system possesses a simple zero eigenvalue. Sufficient conditions are obtained for local stabilizability of the equilibrium point at criticality and for local stabilizability of bifurcated equilibria. These conditions involve assumptions on the controllability of the critical mode for the linearized system. Explicit stabilizing feedback controls are constructed. The Projection Method of analysis of stationary bifurcations is employed. This work complements an earlier study by the same authors (Systems Control Lett.7 (1986) 11–17) of stabilization and bifurcation control in the (Hopf bifurcation) case of two pure imaginary eigenvalues of the linearized system at criticality.     

A fifth-order multiple-scale solution for Hopf bifurcations

The subject of this paper is the multiple-time-scale analysis of Hopf bifurcations up to fifth-order nonlinearities. It is shown how an asymptotic fifth-order expansion captures the change in the nature of the limit cycle from stable to unstable and viceversa. The formulation is validated by applying it to a simple mechanical system for which there exists an analytical limit-cycle solution. Applications include the pre- and post-flutter behavior of a typical section with nonlinear spring having a stable limit cycle (supercritical Hopf bifurcation) that turns into an unstable one, because of fifth-order nonlinearities.     

一类具有饱和发生率的时滞恶意病毒传播模型的分岔控制策略

考虑非线性的饱和发生率,建立一种刻画信息物理融合系统(cyber-physical systems, CPS)中恶意病毒传播的SIRS(susceptible-infected-recovered-susceptible)模型.为了避免因Hopf分岔的产生致使恶意病毒传播扩散,采用参数调节法和状态反馈法相结合的混合分岔控制策略,研究信息物理融合系统的Hopf分岔控制问题,建立受控系统的稳定性条件和分岔判据,探明控制增益参数对Hopf分岔点和分岔极限环幅值的影响规律,并给出分岔阈值与增益参数间的关系图.数值仿真结果表明,所提出的混合分岔控制策略不仅能够改变Hopf分岔点的位置,而且可以有效调节极限环幅值的大小,使得信息物理融合系统产生预期的动力学行为,有效降低恶意病毒传播的危害.     

利用谐波平衡法对Buck变换器中倍周期分岔的仿真研究

利用谐波平衡法对Buck变换器中的倍周期分岔进行了仿真研究，首先给出了连续控制模式下电压控制型Buck变换器的动力学模型，然后采用谐波平衡法进行分析，获得了产生倍周期分岔的充要条件，同时也得到了分岔的准确位置。基于这个分岔条件，可以设计一个前馈控制来避免倍周期分岔的发生。此控制法有利于输入电压工作范围的大幅度扩大，以及较好的输出电压校准。     

A harmonic balance approach to robust neural control of MIMO nonlinear processes applied to a distillation column

Robust stability and performance are the two most basic features of feedback control process. The harmonic balance analysis based on the describing function technique enables to analyze the stability of limit cycles arising from a closed loop control process operating over nonlinear plants. In this work a robust stability analysis based on the harmonic balance is presented and applied to a neural network controller in series with a dynamic multivariable nonlinear plant under generic Lur’e configuration. The neural controller is replaced by its sinusoidal input describing function while a linearized model is derived to represent the nonlinear plant dynamics. The uncertainty induced by the high harmonics effect for the neural controller, together with the neglected nonlinear dynamics due to plant linearization are incorporated in the robustness analysis as structured norm bounded uncertainties. Stability and robustness conditions for the neural closed loop control system are discussed using the harmonic balance equation together with the structured singular values of the uncertainty. The application to a multivariable binary distillation column under feedback neurocontrol illustrates the usefulness of the robustness approach here developed to predict the absence of limit cycles, which of course is subject to the usual restrictions of the describing function method.     

On the use of bifurcation analysis for robust controller tuning for nonlinear systems

This paper presents a new approach to robust controller tuning for nonlinear systems. The main idea is to apply numerical bifurcation analysis to the closed-loop process, using the controller tuning parameters, the set points, and parameters describing model uncertainty (parametric as well as unmodeled dynamics) as bifurcation parameters. By analyzing the Hopf bifurcation and saddle-node bifurcation loci, bounds on the controller parameters are identified. These bounds depend upon the type as well as the degree of mismatch that exists between the plant and the model used for controller design.The method is illustrated by tuning a state feedback linearizing controller for an unstable reactor as well as by comparing a proportional-integral (PI) controller and a state feedback linearizing controller applied to a continuously operated fermenter. The feedback linearizing controller can result in better performance than the PI controller if a very accurate model of the process is known and if the operating conditions vary over a significant range. However, stability properties of systems controlled by feedback linearizing controllers can degrade significantly as the mismatch between the plant and the model increases. This is illustrated in the fermenter example by showing that bounds on the tuning parameter of the feedback linearizing controller are significantly tighter than the ones for the PI controller.     

On the perturbations of a Hamiltonian system

The perturbations of a Hamiltonian system having compounded cycle are studied in this paper. The existence theory and stability theory of singular closed orbits are applied to study the given perturbed systems. By using the small parametric perturbation techniques of differential equations, we study Hopf bifurcation, singular closed orbits bifurcation and give the number and distributions of limit cycles in the above perturbed near Hamiltonian system.     

Stability analysis and non-linear behaviour of structural systems using the complex non-linear modal analysis (CNLMA)

Herein, a novel non-linear procedure for producing non-linear behaviour and stable limit cycle amplitudes of non-linear systems subjected to super-critical Hopf bifurcation point is presented. This approach, called Complex Non-Linear Modal Analysis (CNLMA), makes use of the non-linear unstable mode which governs the non-linear dynamic of structural systems in unstable areas. In this study, the computational methodology of CNLMA is presented for the systematic estimation of the non-linear behavior of structural system, and it is applied to a complex system with quadratic and cubic non-linearities. Results from this non-linear method are compared with results obtained by integrating the full original non-linear system. This procedure appears very interesting in regard to computational time, formulation, and also necessitates very few computer resources. Thus the CNLMA is suited to computational implementation for various complex non-linear system with many degrees-of-freedom.     

Oscillation control in non-linear systems using a first-order filter

In this paper we shall address the oscillation control problems in certain classes of non-linear systems whose outputs are required to follow their inputs. It is assumed that the non-linear systems can be well represented by a set of state-space equations and undergo Hopf bifurcation at some particular value of their parameters or their inputs. A simple first-order output feedback controller is proposed for oscillation control in these non-linear systems. First it is shown that in most cases the first-order controller is effective in locally stabilizing a second-order non-linear system which is undergoing Hopf bifurcation. Then a state separation method based on the solution of the associated Riccati equation is applied to the oscillation control of higher-order non-linear systems and a second-order approximated model is developed for the purpose of designing an oscillation controller. The closed-loop stability of the reduced-order model based design is analysed and some sufficient stability conditions are provided. Finally, a detailed application example of a stepper motor is given to show how the controller design method developed in this paper is applied to practical oscillation control problems.