Nonlinear control
systems
0 20 40 60 80
100 120 140
160 180 200-
1000010002000300040005
00060007000t[s]
      u        1        (       t        )  ,      u        2        (       
t        )
 Fig. 7.23:
Manipulated
variable response
for the ideal PID
controller (red
color) and
manipulated
variable response
for the nonlinear
PID controller
with triple linear
part of the
saturation (green
color)
 End of example
.
Solved Example
 Example 7.2.5
Problem:
Compare control
of the astatic
second order
system by ideal
and real P
controller with
saturation.
Transfer is
following
1(s)( 5 1 )
s
Gss
=+
.
  Determine a
control response
with ideal and
nonlinear P
controller for the
reference variable
step w= 10.
Model the
problem in
Simulink and
results in Matlab.
Solution
:
 Control systems
with the transfer
above and two
types controllers
and reference
variable step is
modeled in
Simulink (Fig.
7.24.). The gain is
K 
 = 50. Controlled
variable response
for the ideal P
controller with
gain 50 and
reference variable
step w =10 is
demonstrated in
figure 7.25 by red
color.
Manipulated
variable response
for the ideal P
controller with
gain 50 and
reference variable
step w =10 is
demonstrated in
figure 7.25 by
blue color.
Controlled
variable response
for the nonlinear P
controller with
saturation (±10)
for the reference
variable step w
=10 is
demonstrated in
figure 7.26 by
green color.
Manipulated
variable response
for the nonlinear P
controller with
saturation for the
reference variable
step w =10 is
demonstrated in
figure 7.26 by
blue color.
242
 

 
 Nonlinear control
systems
0.2s(s+0.2)Zero-Pole350Zero-
Pole20.2s(s+0.2)Zero-
Pole150Zero-
PoleStepScope3Scope2Scope1S
copeSaturation1Add1Add
 Fig. 7.24 Block
diagram for
responses of
linear and
nonlinear control
systems in
Simulink
0 5 1 0
1 5 2 0 2 5
3 0 -500-400-300-200-
1000100200300400500t[s]
      u        (       t        )  ,      y        (       t        )

 Fig. 7.25
Manipulated
variable response
(blue) and
controlled
variable response
(red) for the ideal
P controller
0 5 1 0
1 5 2 0 2 5
3 0 -10-5051015t[s]
      u        (       t        )  ,      y        (       t        )

 Fig. 7.26
Manipulated
variable response
(blue) and
controlled
variable response
(red) for the
nonlinear P
controller with
saturation
243
 

 
 Nonlinear control
systems
If it is compared
responses of
controlled
variables with
both controllers, it
stands to reason
that the control
time in both
controlled systems
is roughly same,
but the amplitude
and frequency of
oscillations at
nonlinear control
system is lower. It
is evident
stabilizing effect
of the saturation
nonlinearity in the
feedback control
system (Fig.
7.27).
0 5 1 0
1 5 2 0 2 5
3 0 02468101214161820t[s
]
      y        1        (       t        )  ,      y        2        (       t        )
 Fig. 7.27:
Controlled
variable response
(red) for the ideal
P controller and
controlled
variable response
(green) for the
nonlinear P
controller with
saturation
 End of example
.
Solved Example
 Example 7.2.6
Problem:
Compare control
of the astatic
second order
system by ideal
and real PD
controller with
saturation.
Transfer is
following
1(s)( 5 1 )
s
Gss
=+
.
  Determine a
control response
with ideal and
nonlinear PD
controller for the
reference variable
step w= 10.
Model the
problem in
Simulink and
results in Matlab.
Solution
:
 Control systems
with the transfer
above and two
types controllers
and reference
variable step is
modeled in
Simulink (Fig.
7.28.). The gain is
K 
 = 50.
244
 

 
 Nonlinear control
systems
0.2s(s+0.2)Zero-Pole3500(s+0.2)
(s+50)Zero-
Pole20.2s(s+0.2)Zero-
Pole1500(s+0.2)(s+50)Zero-
PoleStepScope3Scope2Scope1S
copeSaturation1Add1Add
 Fig. 7.28 Block
diagram for
responses of
linear and
nonlinear control
systems with PD
controller in
Simulink
0 5 1 0
1 5 2 0 2 5
3 0 024681012t[s]
      y        1        (       t        )  ,      y        2        (       t        )

 Fig. 7.29
Controlled
variable response
(blue) for the ideal
PD controller and
controlled
variable response
(red) for the
nonlinear PD
controller with
saturation
0 0 . 5
1 1 . 5 -
1000010002000300040005000t[s
]
      u        1        (       t        )  ,      u        2        (       t        )
 Fig. 7.30
Manipulated
variable response
(blue) for the ideal
PD controller and
manipulated
variable response
(red) for the
nonlinear PD
controller with
saturation
245
 

 
 Nonlinear control
systems
Controlled
variable response
for the ideal PD
controller with
gain 50 and
reference variable
step w=10 is
demonstrated in
figure 7.29 by
blue color.
Controlled
variable response
for the nonlinear
PD controller with
saturation (±10)
for the reference
variable step w
=10 is
demonstrated in
figure 7.29 by red
color.
Manipulated
variable response
for the ideal PD
controller with
gain 50 and
reference variable
step w =10 is
demonstrated in
figure 7.30 by
blue color.
Manipulated
variable response
for the nonlinear
PD controller with
saturation for the
reference variable
step w =10 is
demonstrated in
figure 7.30 by red
color. If it is
compared
responses of
controlled
variables with
both controllers, it
stands to reason
that the control
time in nonlinear
controlled system
is longer. Due to
the choose gain
and derivate
element is the
controlled
response
aperiodic. It is not
evident stabilizing
effect of the
saturation
nonlinearity in the
feedback control
system.
 End of example.
 
Examples 7.2.3 to
7.2.6 clearly
demonstrated how
is different
characteristics of
ideal active
controllers with
amplifiers and
characteristics of
real nonlinear
controllers with
saturations.
Summary of
notions 7.2.
Design of the two-
position relay
controller.
Comparison
 of
linear
 P,PD and PID
controllers with
 nonlinear
 P,PD and PID
controllers with
saturation
.
 
Questions 7.2.
1.
 
Describe design
of two-positions
relay controller. 2.
 
Why is used a
deadband at
design of the two-
positions control?
3.
 
How is effect of
the saturation
nonlinearity to the
activity of the P
controller for
different types of
controlled
systems? 4.
 
How is effect of
the saturation
nonlinearity to the
activity of the PID
controller for
different types of
controlled
systems?
Example to
solving 7.2.
Example 7.2.7
Problem:  Design
a nonlinear
control of the
electric boiler
through the use of
the relay
controller.
Feedback control
system is
demonstrated in
figure 7.31.
246
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