Circle criterion

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In nonlinear control and stability theory, the circle criterion is a stability criterion for nonlinear time-varying systems. It can be viewed as a generalization of the Nyquist stability criterion for linear time-invariant (LTI) systems.

Nonlinear control theory is the area of control theory which deals with systems that are nonlinear, time-variant, or both. Control theory is an interdisciplinary branch of engineering and mathematics that is concerned with the behavior of dynamical systems with inputs, and how to modify the output by changes in the input using feedback, feedforward, or signal filtering. The system to be controlled is called the "plant". One way to make the output of a system follow a desired reference signal is to compare the output of the plant to the desired output, and provide feedback to the plant to modify the output to bring it closer to the desired output.

Stability theory part of mathematics

In mathematics, stability theory addresses the stability of solutions of differential equations and of trajectories of dynamical systems under small perturbations of initial conditions. The heat equation, for example, is a stable partial differential equation because small perturbations of initial data lead to small variations in temperature at a later time as a result of the maximum principle. In partial differential equations one may measure the distances between functions using Lp norms or the sup norm, while in differential geometry one may measure the distance between spaces using the Gromov–Hausdorff distance.

In control theory, and especially stability theory, a stability criterion establishes when a system is stable. A number of stability criteria are in common use:

Contents

Overview

Consider a linear system subject to non-linear feedback, i.e. a non linear element is present in the feedback loop. Assume that the element satisfies a sector condition , and (to keep things simple) that the open loop system is stable. Then the closed loop system is globally asymptotically stable if the Nyquist locus does not penetrate the circle having as diameter the segment located on the x-axis.

General description

Consider the nonlinear system

Suppose that

  1. is stable

Then such that for any solution of the system the following relation holds:

Condition 3 is also known as the frequency condition. Condition 1 the sector condition.

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References

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