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trir:.tl't'RANS^CI'IONS ON AUTOMATTC CONTROL, VOL.37, NO.4, APRL

1992

b
ti-

Technical Notes and Correspondence

L
i

Describing Frnclions and Limil Cyclcs

r.Xsin 6t

t-

i
t
i,

I,
1

O. R. Fcndrich
Fig.

Ahsllca-Tltc condltlons for lltrtl ccllng of u sllrglc'kror norrllncr

fcdbck syslcm rrc considcrcrl in lcrms rf lhc dcscribin funclion fo

drglc-vrlued syntmclrcl amc'

itv.

lnd

l.

Closcd-lmp syslcm.

frcrucnc-lnrtcrcndcnl nonllncsr-

This note is about thc prcdictkrn of linlit cyclcs by thc usc of

dcscribing functions. It rcfcrs to ihc convcnlkrnitl systcttt shown in
Fig. I which is assutncd to sllisfy thc usual prcctrntlitkrrrs rcquirc<l
foi thc usc of this tcchniquc I I l. ln addition. it will bc assuntcd tht
thc charactcristic of thc nonlincrr part of thc forwarrl ltxrp' whosc
dcscribing function is N, is singlc valrrctl. hrs txld syntrttctry and its
timc and frequency indcpcndcnt. lt will also hc tssuntcrl tht thc
transfcr function

O of thc lincar part tkcs thc firrtt of n rltitt of

polynonrials with nlorc polcs than zcros'

ln

ordcr to invcstigatc thc cxistcncc of lilit c'clcs, thc ttsrrnl

procedurc is to plot thc loci

of G(lo)

antl

uf -

antl to ltxrk for

intcrscctions which rcprcscnt solttions ol'lhc ctttation I + NO(r')

= 0, which, subjcct to tlrc approxirrrations inhcrcnt in thc rsc of thc
describing function, is thc chlrlctcristic cquatirln of thc closctl'kxrp
system. Thc imporrant point to notc is lhot nol all such intcrscctions
aie indicativc of lintit cyclcs antl thcrc is r ncctl firr clcrr critcrit'
Onc u'ay to approach stch a crilcritlll cotlccrlls thc lirrllr of thc

transfcr function O. Putting C(.s)

,(/(.s)

f (.u

Itig.

. s'ht'rc A rs it c(tllsl:rnl

it

A'(.s- l)
I
locus. Thc
- '- transltr tinction 6(.$) = -T-- -N '---"'
s ('r + l)

thc nunrbcr of opcn-loop right-hand half polcs of thc linear cornponcnt rnd s thc nurnbcr of right-hand half zcros of thc cquation

I + N6(r) = 0. Fig. 2

half of thc s-planc.

Manuscript receivcd Novcntbcr 3. l9lt9: rcviscrl lrh' llt' 1990.
The author is with thc DcPartnrcnl of l:nginccring l\lcehnics, Thc Opcn
University, Milton Kcyncs, MK7 (rAA U.K.
IEEE t,og Nuntbcr 9105145.

shows

sinrplc cxamplc. Herc, 6(s)

(k > 0), thc full linc bcing thc

= --i--------------:s'+s'+.r+0.3

such a casc, which incidcntirlly is at variancc witlt its usc in tn

cxamplc by Mccs [2].
Whcn nonc of thc roots of thc cquation .q(J) + N,('/('r) = 0 ilrc
in thc right-hand half of thc s-pllnc, and thcrc is a pair of rtxrls on
thc inraginary axis, thc linrit cyclc f'rcqucncy is tltat it u'hich thc
phase shift of thc lincar conporcnt cquals I [|0'. Thc valrrc of N at
cach linlit cyclc is such ns to nlkc thc rclcvant lcrnt in thc criical
'l'hc linrit cyclc
column of thc Routh-Hurwilz arrry cqturl to z-cro.
will be stablc (unstablc) if thc chanc in N corrcsrntling to an
incrcase in thc anlpliturjc X would lrc such as to nrrvc thc "lintit
cycle roots" from thc imaginary axis into thc lc'ft'hantl (righl'hlnd)

loci and
I

a linlit cyclc is it rlrir ol rtxrts of tltc

on
thc intninary axis ol'tlc 's-rllrnc' rvitlt irll
cquation
charactcristic
thc othcr roots in thc lcft-hand half of thc planc. lf thc lincar
clcnlcnt is such thlt this condition clnn(rt hc sllisfictl for any vlluc
of & thcn thcrc can bc no linrit cyclc though llrc G(fo) krus tttay
rllc

- -

to apply thc Nyquist stability critcrion to portions of thc ;

Irrcus, using lhc c(luation n = P - whcrc ,l rcprcscnts thc numbcr of nntickckwisc cncirclcnrcnts as <,l gocs from -@ to +6, p

and thc conrlition for

cross

lntcrscction of loci prcdicting stablc limit cyclc,

An altcrralivc approach is to plot thc C(l<) and

as thc forward pith in a unity'fcctlback s'stcttt'

= 0'
thc charactcristic cqualion of thc syslcnr will bc g(.r) +
NA' for A'
Thc cffcct of thc <Jcscribing lunction rvill trc to substitrtc^/('r)

and considcring

2.

frcqucncy part ol'thc locus. Thc arrowhcad on thc

shows thc dircction

positivc-

- -

of incrcasing X. For this lincar trar,.,fcr

locus
func-

tion r = 0 and sincc, for thc part of thc - locus to thc left of
thc intcrscction ol'lhc two loci thc number of encirclcncnts is zcro,

=0

and so for any valuc

of N in that part of the locus thcrc

no rnstablc closctl-loop polcs. For the part of the

- -

are

locus to thc

right of thc inlcrscction n = -2, hcnce -2 =0 - z, or | = I ss

that rhcrc arc two unslablc closcd-bop polcs. Thc point of intcrscction is thcrcforc on thc boundary bctwccn stability and instabilily of
lhc clo.scd-loop and lrcnce rcprcscnts a linrit cyclc. If, starting at the
rint of intcrscction, thc amplitude X is incrcascd thc closcd-loop
xrlcs nrovc into thc stable rcgion and hence thc limit cycle is stable.
Applying thc sanc proccdure to thc example shown in Fig. 3
whcrc C(.r)

(x)llt.91t{(,/(r]s0.1.(n

(.)

1992 ll;l1E

frls

l)

(,('> 0) it is found

that both to thc left

;t

il.,K
#: 9
f,r :

Es abt ,rlod t

osft" du

ut s\Zz
0$"0V

frfl'

fl L ?au pL*lcrd,mt t\^,p(k^^l" L u* u\^" aLal vr-{r

.

ff:

a6

-: ,-fl,fr

-
ait-.

a)=,
=)

'=t
f
A,_
lt
;t!,'

do ca\N\rcL
Cu*\r{

: Eu\o_hll, c"C

: u \N i,t*nu,. ^ qu{n-[L< sl
"{iuu,r,,.lq,r*c

f,(

lurwdo ow[.."cLy(L\^ko o. u pu\^,\o Cu opc\tt

U*/ q.,S\L paf,\rtn'cu\rr.cL L\,\\ tloruno s\f\''J CLfC0r.i'
E, p'n,.rl,.
Et rNr;it,oo urn,u qur."*l r\ uo,.:,^). pc\rKcr."tucb'cr,r
loo.\o\a,,\,i,tr*c\ d: dLer,."

=ri
1i

c\.e

.ot,ulo.\ '.ro {'t,tr.(

{''

va

ti*

'

f;

\ubo /\ \qxg.rrnd,* ['i [\nsi.( oule\,t L,Sc,Buwov

ovrcu \r"rro.{0, fkr 6owa*[p.oUl.*o{ f-(ot**

7
7

\on',tr\\1luc

;t

=iDl

a
3),
a
n

\.,,r d.r: 'n,.ltoor,

' \'4to. c (.ir.uu\tlrrtir'n. PIlrn,'a( |{ i,tCo

f,

' l{\,odo r,(td o 5 t tltirxtlu lic\odc

ti,r \ i\f\
[.,
I*ilt1lo
pub\i,c.r.[o

t'
t)

I
l)
trl;

)'

_J

(r**ut

',,Lyttr!-.t,idoal

Eil

L\^

(Poil*,.ue\ \- \10 B/
i.tcr.clo err L,lg[ct
rt,\,,\

!l...,'Wttil/
k'-Su[\,c\

_-

bi$ur.ri,iri

cr \

ri

Lr^= r.\N

eu,-,\S1?

60 0uy'c -

Ffl^{s^cTtotis

oN

^t,]'oNr^Ttc

c()Nl

Rot_.

v()t...r7, No. J.,\I'Rl

re,):

lu'
I

tluang l-in

'\

r"4
z\
./\

,\/'.
,/r

tm,

\\

l.'
I

hi
bt
ht
?il
pi
;rl
-l
rrl

-l
tl

dl
{l
ill
ill
rll
al

\'
c(st=
Fig.

3.

lntcrscction r[

At'

il

intcrscction thcrc

rrc

tnstahlt

xn-<

l$, .t if ><;rt l:N

Thc author gratcfilly acknorvlctlgcs hclrfirl conrrrrcrrts b1' Dr. C.

R. Dillon.

havc shown, that it sufliccs to chcck ttrc crtgcs

of g
nicc

rcsult suggcsts thxt ir ntay bc possiblc also in thc casc ofnrultiliniar

crrcflicicnt functions to conclu<lc stability of thc cntirc
e front rhc
stahility of ir subscr QtC Q. IJolohan and Saf<nov l2l also assunrc
:r hrx shapctl Q. As a canrlidatc subsct e, thcy considcr thosc r/
uith :rt llxlst lwo nolcxtrcrnrl clcncnts. By countcrcxarrrrlc, thcy
shnr. tht thc valuc sct P(jco, e) at a spccific frcqucncy o: nray
inchrlc tlrc trrigirr, s.hcreas thc valuc sct ,l)("/t.l, er) drrcs not
inclrulc it and thcrcforc fails to intlicatc instability at this f.cqucncy.
lly continuiry thcy argrrc that thc coujccturc nray fail for an intcrval
0 f' t r's.
ln l3l a countcrcxurrplc was givcn tha( slowcd lhat an isolatcd
runstablc point can occr in q-slracc. lf it is containctl in thc
e-box,
thcn srabiliry lcs(s of rhc faccs fail to in<licatc thc instability. Ths
crunrrlc hud, hotvcvcr, only two paramctcrs, lcaving thc question
o^*n. rvlrcthcr it rnay suflicc to tcst two-ditncnsional faccs,
ln tlrc prcscnt notc, tlc cxanlplc of [3| is gcneraizcd to an
arbitrary nunhcr / of rnccrtrin(ics.
ln cunrparison t() [2,| thc countcrcxanrplc rulcs out a nruch largcr
cla.ss of possiblc corrjccturcs, bccausc
| ) Q .locr not nccd to havc a box shapc,
2) thc cntli<latc subsct Q, cnn bc ar.bitrary,
J) thc rcsult applics to all ficqucncics bccausc it is <.lcrivccl by a

f'rcqucncy-indclcn<lcnt l.lurwitz arguntcnt.

i
'l'hc countcrcxarnplc shows for
rlynonrials with gcncral nrultilincar tlcpcndcncc on unccrtans pnranrctcrs that is docs not sufficcj to
clcck a subsct of Q tor stabiliry. It shoultl be norcd that thcrc rc
srccial nrultilincar structurcs, for which it sulliccs to chcck faccslof
aprrorliatc <Jinrcnsion. ln [4] such a rcsult is shown for polynontibs

trising front thc clraractcristic polynontial of an irrtcrvl rnarrix.

I

II. Tlru

It;.rrriN<:li.s

II]
t2l

R. J. Richards, An Intruduction to Dtnuuics und

Yolk: Longnrans. 1979.

Conlro!.

Ncrv

I\{ccs axl A. R. l}crgcn, "l)cscribing lirnctions rcvisirrrl."

IEEE 1't'ans. ,'lul(r. Conlr., rrrl. AC-20, no. ,1. ug. 197.5.

Cour'r:Rl:x,\tltpt-E

1'(s, q) -- an() + a,(q)s + ar(q)s2 -r sl

with thc nlrltilincar cocflicicnl lunctions

auk) = /(/- t) +r2+2(t+

Doc.s

t
atk) = a,(q).
I.ct qe Q*= lq: q,> 0, i= 1,2,..'; /), rhcn all

J. E. Ackcrrnann

Ahstracl-Fo polynonrinls rvilh gencral multilinrr rlcpcndtnce on

unccrlnin rcrl prrrnrrlcrs it docs nol sullirc to rhrck suhstl of Q for
srabillt',

a,(gl

and a box-shapcd

i
I
I
I

cocfllcichrs

o,(q)a{d -

oukt)

= Lk,-

t)2

rz

'l'hc rcsulling slability con<lition

xrl'norrrial

P(t' q) = a(q) + a,(,).r + "' 't'rr,, ,({).r" | +.r"

whcrc q = lqt, q2."'. rl is vcct()r ()[ unccfl:rn plr;rrrrctcrs
a(g)

4iQ

arc positivc and rhc rcrrraining Hurwitz stability conditiori is

({ql(2(g) - at(tl) > 0. It is casily vcrilicd that

I. lNt nootlct tol

an unccrlinty dornain Q. l;or tlc casc of aflinc

t....

i=

Parnncf crs ir ltolrslncss Anll'sis?

of;r

t)I q+2 L
i= I
i<j

o'('t)=l+Lq,

if Sullicc lo Chcck r Srbsct f I\,lultilincrr

Considcr thc sthilit)'

Considcr thc third <Jcgrcc polynomial

A. I.

Fr

cI

lrlltvior.

closcd-loop roots. Ths coukl inrlicatc cithcr an rnstablc s).stcl with

no limit cyclc or a "scnistrblc" lirtrit cyclc. As firr:s obscrvirlllc
systcm bchavior is conccrncd thcsc tw() tlcscrirtions lcad to thc
satnc prcdiction. lf it is ncccssary l() d!.ci(lc l)ctwccn thcnr. crusirlcration of thc roots of thc chanrctcristic ctulttion slrorvs thal thcrc is
no linrit cyclc.

rD

-!-la+

prcrlicting nru-linlit c'clc

and to lhc right ol' thc roint

ti
r|)
EI

lrri

IIJ

lirr srabiliry in ortlcr t() tcst stbilty lbr thc cntirc e. This

crrllicicnt

in
[ulcliors

Q,i.c., q,elq, ', qi I, tllrtlctt. llolkrt.

:rl

Manuscript rcccivcd Oclohcr 10, l98t): rcviscd Ot'tolxr 16, 199().

'l'hc author is at DLR-l:F-t)t:. f)-lt0.1l Obcrpfnllt'rrholcn. (icrrnrny.
IEEE Log Nunrbcr 91051.1,1.
(X)l 8-918f)/92S(1.1.(Xl

f
i=

(q,
I

- t)''"

is satislicd outsirlc a hall ol'radius r nd ccntcr Qo = [.1,,,...,i,1.

Ncxt, wc lct r go to zcro. Thus thc urrstablc ball shrinks tolan
isolltcd unstablc point r,,. With thc cxccption of this point lhc
rolynorrrial is strtrlc for all qeQ+. Notv chosc an arbitrary rcglon
QcQn such thar oeQ. Q is not robustly srrblc bccausd it
contains xn isolatcd unslablc pont. It is stablc othcrwisc. Thusf a

r)

l'r9:

lUl-.E

I
I

I
I

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'W
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7

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{
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\\

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,'

P"*[u. Jo qulLi\ovio
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o.u p,uw\o': puw\o d,f tul\thr\o

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i= Ax

tw olo purlv\o de uqui.\ \hy.i,o: x,c =O, L A b,li *

t
gLwStt\W. i. A e Ii,'(l\(,\ r,r,li1\.'.los? U'*(o S
de !ui\ rbrio
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pu

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^il ,at
f\

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l'\

t.t

^'/'

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i

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I
I

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\-l
7
S=Q *s\,,,6tu {lu(.Co'cY'(')t>orrrc\eq&=Ie
v);r\t^r

4, to**plot Au-n,*\otf'd,t':

L*...t*-*

,, \,,,,u.u.,Iu" \,i.u',,,*^-r\\\.

coutpf(a.-

7 H' N*i: xt$hl f:.h' :^: I:ffi^":l.,

tu

arI

t4 Nto\ors*'.

V
n
a

4,.

do[i''nCL* ts'c \l''\\<R' ''t\ t^sfl\u/JtLtt\-h

\\rg,r-(1,ItI'' tUrJ*" POY \\5\\= E
Lor u"t (L.cc' o\^* br

N01-A: Dc,.to*[acrio\,lut-ct.ut'n r\u ltt'-

;,-l;&

4
=
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pu\\Io c quL

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a.
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=
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\or ca MrLwtct
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