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A linear time invariant system (LTI) oscillates if and only if it has a pair of eigenvalues on the
imaginary axis.
Practically, this condition is impossible to meet since any small perturbation would move the
eigenvalues away from the imaginary axis. Then one would end up with an unstable system
or a system whose oscillations decay to zero.
Moreover, the amplitude of the oscillations (if we can get sustained ones) depends on initial
conditions.
For practical applications where one needs sustained oscillation with a given amplitude, one
needs nonlinear systems.
Example: (to show that you ignore non linear effects at your own risk)
Consider a linear system with saturating actuators
5) Chaos: Having trajectories that are very different even though the initial conditions are virtually
the same.
6) Multiple modes of behavior: For example, more than one limit cycle (the one that sets in depends
on initial conditions), jumps, etc.
Define states
Assume T=0
Eq. points:
Look first at
Linearization is
STABLE
annotated EE 587 ME 559 Page 14.1
STABLE
Linearization
READER
UNSTABLE
annotated EE 587 ME 559 Page 15.1
Assume
Since
With this we get
Example 3: Van der Pol oscillator (one of many oscillators based on negative resistance)
Non linearity
Negative Resistance
And get
damper
"negative damper"