I Nonlinear Systems Third Edition ——— Hassan K. KHALIL Department of Blectrieal and Computer Engineering “Michigan State University Prentice EAM PRENTICE HALL Upper Saddle River, New Jersey 07458COP data on He ‘Vie Present and Edtotal Diteetor, ECS: Marcia Horton Associate Edtor. Ade Duorkin ‘ioe President and Director of Production and Manufucturing, ESM: David W. Riccar Executive Managing Editor Vinee O'Brien Managiog Bator: Dowid A. George Production Editor: Tamar Sen Compeettlon: Prefs Ine Director of Creative Services: Paul Blfnts Creative Director Carole Anson An Director. Jayne Conte [Art Eder Gr Dalles Cover Designer: Bruce Kensclaar Manufacturing Manager: Trudy Pisciotts ‘Monuiactuing Buyer: Lisa MeDoweil Marketing Manager: Helly Stark ERE © 2002, 1096 by Prosice Hall BEEWIM Preutco an, tn. purse Upper Sadale River, NJ 07658, All sights reserved. No pat of this book may be ropreducod in any form or by any means, ‘tout perminion ia writing fom the publisher The author and publisher of this book have used thelr best efforts in prepating this book. These ‘forts include the development, research, and tasting of Ue theories and programs to determine their effetivenass, ‘The author and publisher make no warranty of any Kind, exprewsed Implied wid regard to theo progr oF the documentation contained in thir book. The author ‘a publisher shall not be lable n any’ event for Incidental or consequential damage in ‘connection with, of erlsing out of, the fumlshing, performace, or uo of tee progr Prin in the United States of Annricn woeT6 sa ISBN 0-13-0b7385-7 Peanon Education Ltd, London Pearson Education Australia Py. Lid, Sydney Pearson Bveation Siagapore, Pte, Lid Pearson Bdveation Nort Asa Ltd, Hong Kong Parson Eduestion Canada, Inc Turonte PPourwon Edescion de Mineo, A de CY. Person Eduestion Japan, Toyo Pearson Education Malaya, Pes Ld Pearson Baleation, Upper Suddle River, New Jersey To my mentor, Petar V. Kokotovié and my family Amina, Mohammad, Omar, Yousuf, and SuzanneContents Preface 1. Introduction 11 Nonlinear Models and Nonlinear Phenomena 1.2 Examples 1.2.1 Pendulum Equation 1.22 Tunnel-Diode Circuit 1.2.3 Mass-Spring System : 1124 Negative-Resistance Oscillator 12.5 Artificial Neural Network 1.2.6 Adaptive Control 1.2.7 Common Nonlineaities 13. Exercises 2. Second-Order Systems 2.1 Qualitative Behavior of Linear Systems 22. Multiple Equilibria 2.3 Qualitative Behavior Near Equirum Points 24 Limit Cycles 2.5. Numerical Construction of Phase Portraits 2.6 Existence of Periodic Orbits 27 Bifurcation 2.8 Exercises 3 Fundamental Properties BL Existence and Uniqueness 32. Continous Dependence on Initial Conditions and Parameters 33 Differentiailty of Solutions and Sensitivity Equations 8.4 Comparison Principle 35 Exercises 38 37 6 aL oA 59 a 6 6 99 102 105