Phase Plane Analysis

Phase plane analysis is a graphical method for studying

second-order systems. The basic idea is to generate a two-dimensional plane (called the phase plane) in the state space of a second order dynamical system. Motion trajectories corresponding to various initial conditions are examined to obtain the qualitative features like stability and motion patterns of the system.
ADVANTAGES: Visualising behaviour of a nonlinear system,

starting from various initial conditions without having to solve the nonlinear equations analytically. Not restricted to small or smooth nonlinearities, but equally applied to hard nonlinearities.
DISADVATGES: Restricted to only second order or first order

systems.

Concepts of Phase Plane Analysis

Phase Portraits:

Graphical representation of 2nd order autonomous systems i.e. ( ) ( ) The state space of this system is a plane having ( ) as coordinates and is called the phase plane. The family of phase plane trajectories corresponding to various initial conditions is called a phase portrait of a system. Lets take an example of spring mass system having ( ) dynamical equation

The nature of the system response corresponding to various initial conditions is directly displayed on the phase plane.

A major class of 2nd order systems can be represented as ( ) Can you tell me some examples of 2nd order systems in electrical systems and mechanical systems?

Singular Points:

A singular point is an equilibrium point in the phase plane, which means ( ) ( ) Stability is uniquely characterised by the nature of their singular points. Lets take some examples to find the singular points: o For the 2nd order linear system o For the 2nd order nonlinear system

Singular points are (0,0) and (-3,0).

For the 1st order nonlinear system

Singular points are at 0, 2, -2.

Phase Plane analysis of Linear systems

The phase portrait of

This system has two stable poles at -1 and -2. The phase portrait of

The system has one unstable and one stable pole at 1 and -2 respectively. The phase portrait of

The system has two complex stable poles at

Phase Plane analysis of nonlinear systems

Local behaviour of nonlinear system can be approximated by the behaviour of a linear system. Nonlinear systems can display much complicated patterns such as multiple equilibrium points and limit cycles. A limit cycle is an isolated closed curve in the phase plane.

a) b) c)

Stable limit cycle Unstable limit cycle Semi-stable limit cycle

 Consider a Satellite control system having mathematical model as (rotational unit inertia )

( )

i.e. the thrusters push in the counter-clockwise direction if is positive.

Control input and thus the phase trajectories are switched on the vertical switching line.