Linearization About a Nominal Trajectory

The equations of motion of a satellite in a planar orbit about a point mass M are: m & && = rq 2 - 2 + T sin f r r & T & 2 rq & + cos f q& = r r where: r= radial distance from mass M q= angle from a fixed reference point in the orbit m= GM, the gravitational constant of the attracting mass M and the control inputs are: T= thrust f= thrust angle. &T & Take the state as x = r r q q , and the control input vector as u = [f

T] .
T

& a. Write the linearized state equation x = Ax + Bu . That is, find the Jacobians A(x) and B(x) as functions of the state.

b. Systems can be linearized about a nominal trajectory as well as a nominal equilibrium point. One solution of the satellite equations is a circular orbit, which has values of: 3 & & r = r0 , r = 0, q = w , T = 0, and m = r0 w 2 (this is Kepler's third law). The constant angular velocity is equal to w, and the constant radius of the circular orbit is r0. Assume that f= 90o at nominal.

Linearize the system about this nominal trajectory. That is, evaluate the Jacobians from part a. about nominal.

Solution
The equations of motion of satellite in a planar orbit are: & dr m && = r = rq&2 - 2 + 2T sin f dt r & & T & dq && - 2rq =q = + cos f dt 2r r & State vector x = [r r q q&]T Control input vector u = [f T ]T .

& a. Linearized state equation : x = Ax + Bu & r & x1 r 2 m & x r rq - 2 + 2T sin f &2 & dx d r & x= = = = = A x + B u = f (x, u ) & q & x3 dt dt q && & - 2rq T & x4 q + cos f r 2r df f f f f A= = &, & dx r r q q

B=

df f = du f

0 2T cos f f = 0 T T - 2r sin f

0 2 sin f 0 cos f 2r

The components in the first row of the A matrix are & & & & & & & & x1 r x2 r x3 r x4 r = = 0, = = 1, = = 0, = &=0 & & & r r r r q q q q By the same way
& x1 r & x2 df r A= = & dx x 3 r & x4 r & x1 & r & x2 & r & x3 & r & x4 & r & x1 & r & x2 & r & x3 & r & x4 & r & x1 & r 0 & x2 &2 2 m q + r3 & r 0 & = x3 2rq T cos f && & r 2 2r 2 & x4 r & r 1 0 0 0 0 & 2r q 1 & - 2r r

0 0 - 2q& 0 r

B=

df f = du f

0 2T cos f f = 0 T T - 2r sin f

0 2 sin f 0 cos f 2r

& b. At the nominal trajectory r = r0 , r = 0 , q& = w , T = 0 , m = r03w 2 , and f = 90o . By substituting these values to above A and B matrices, we have
& x = Ax + Bu

 0 3w 2 A= 0 0

1 0 0 2w r0

0 0 2w r0 0 1 , 0 0

0 0 B= 0 0

0 2 0 0