9.
Phase plane analysis of nonlinear autonomous systems
Aim:1) To simulate the given nonlinear systems using SIMULINK.
2) To analyse the stability of the system using phase plane analysis.
Observe Trajectories Near Equilibria
An equilibrium point can be stable, asymptotical stable or unstable. A point is stable if the orbit
of the system is inside a bounded neighborhood to the point for all times t after some to. A
point is asymptotically stable if it is stable and the orbit approaches the critical point
as . If a critical point is not stable then it is unstable. In the figure above we see that a
center is stable but not asymptotically stable, that a saddle point is unstable, that a node is
either asymptotically stable (sink) or unstable (source) and that a spiral either is asymptotically
stable or unstable.
Analyze the direction and pattern of trajectories around each equilibrium point:
1. Center
Definition: A stable or neutrally stable equilibrium where trajectories form closed
orbits around the fixed point.
Mathematically: Eigenvalues are pure imaginary (e.g., ±jω).
Behavior:
o No damping or growth.
o System oscillates forever.
Example: Undamped harmonic oscillator.
Phase Portrait:
Circles or ellipses around the center point.
2. Node
Definition: A fixed point where all nearby trajectories approach (or diverge from) the
point without oscillating.
Types:
o Stable node: All trajectories go into the node.
o Unstable node: All trajectories go away from the node.
Mathematically: Real, distinct, same-signed eigenvalues.
Behavior: Smooth exponential approach (or departure).
Phase Portrait:
Straight or curved lines directly into/out of the node.
3. Saddle Point
Definition: A fixed point that is unstable, with some trajectories attracted to it and
others repelled.
Mathematically: Eigenvalues are real with opposite signs.
Behavior:
o Some directions are stable (trajectories go in).
o Others are unstable (trajectories go out).
Phase Portrait:
Hyperbolic structure — trajectories approach along one axis and diverge along another.
4. Spiral (Focus)
Definition: A fixed point with spiraling trajectories.
Types:
o Stable spiral: Spirals into the fixed point.
o Unstable spiral: Spirals away.
Mathematically: Complex eigenvalues with non-zero real part.
Behavior: Damped or growing oscillations.
Phase Portrait:
Spiral shapes around the equilibrium point.
5. Limit Cycle
Definition: A closed isolated orbit in the phase plane that does not pass through an
equilibrium.
Behavior:
o System settles into a periodic oscillation.
o Can be:
Stable (attracting)
Unstable (repelling)
Semi-stable
Seen in: Nonlinear systems like Van der Pol oscillator.
Phase Portrait:
One closed loop (cycle), other trajectories spiral toward or away from it.
Stability analysis of System 1:
The Van der pol's oscillator is a perfect example of a nonlinear system with limit cycle.
The state space model of this system is simulated and the stability analysed using phase
plane.
Procedure:
1. From the differential equation governing this system, the state space model is derived.
𝑥̈ − 𝜇(1 − 𝑥 )𝑥̇ + 𝑥 = 0,
The state variables are 𝑥 = 𝑥 and 𝑥 = 𝑥̇
The state space model is
𝑥̇ = 𝑥
𝑥̇ = 𝑥 ∗ 𝜇 ∗ (1 − 𝑥 ) − 𝑥
The equilibrium state is (0,0).
2. The stability of the system is analysed by plotting the phase potrate of the system. The initial
state of the system is taken as (-2 0); (-1 0.5); (0 1); (1 1); (2 0);(3 3);(3 2); (-3 -3);(3 -3);
(-3 3);(0 0) for 𝜇 = 0, 𝜇 = 1, 𝜇 = 5
Stability analysis of System 2:
For the closed loop system with ON-OFF controller with dead zone as given in the figure,
the phase plane is analysed using isoclines method and SIMULINK. The reference input is
zero.
Procedure:
1. The nonlinear system is simulated in MATLAB
-1 XY Graph
Gain
p
To Workspace
1 1
-1
s s
Gain1 Dead Zone Sign Integrator Integrator1
2. The phase plane stability is analysed for different initial conditions.
Inference:
Result:
