-----------------------------

--------

.

(a

.
.
(b

.
backlash
.
(c

.
.
(d

-----------------------------

--------

.


.backlash
.
) (adaptive
Bang-Bang
.

LTI .
x& = Ax + Bu

LTI
(1 A .
(2 A
) (
(3 ) (
) ( .
(4 .

-----------------------------

--------

(5 u = 0 BIBO
.
(6 .

.

d 2y
dy
+x
+ x y = sin x
2
dt
dt

y =ex
y = sin x

: x : y

-1
v& + v v = u

:v
: u

-----------------------------

--------

10 u v .

10 10
.
v
u v.

u = 1 0 + v S v S = 1 v S = 1
u = 10 0 + v S v S = 10 v S = 10 = 3.2
:v s
: v .
:2
.



)i = h(v

-----------------------------

--------

)( h i v
1) h (0) = 0 , h (0) < 0
v h (v )

) v h (v )2

K.C.L :
iC + i L + i = 0
dv 1 t
vdt + h (v ) = 0
+
dt L
d 2v
+ v + Lh (v ) = 0
dL2

3) LC

1
1
= t d
.dt
LC
LC

d 2v
dh (v ) dv
+v +

=0
2
d
dv
dt
L
C

)4

) (4 Linard
v&& + f (v )v& + g (v ) = 0

) dh (v
) , v = g (v
dv

f (v ) =

1
h (v ) = v + v 3
3

h (v ) = 1 + v 2
v&& (1 v 2 )v& + v = 0

vanderpol .
) (4
&, x 2 = v

x1 =v

-----------------------------

--------

x&1 = x 2

x& 2 = x 1 h (x 1 )x 2

-3

F = ma
)(5

&&F Fsp Ff = my
) Fsp = g ( y

g (0) = 0
, ay < 1

1) g ( y ) = k (1 a 2 y 2 ) y

2) g ( y ) = k (1 + a 2 y 2 ) y
Ff .
( Ff
Ff = h ( y& ) , h (0) = 0

&Ff = Cy
my&& + Cy& + k ( y + a 2 y 3 ) = A cos t

.
( Ff .
Fs
(0 < s < 1) s mg s .
.
F FS . F

-----------------------------

--------

. g ( y ) S mg
) (slipping friction . K mg
K . .
.
y& < 0
y& = 0
y& > 0

K mg

Ff = FS
mg
K

F
.

my&& + ky + cy& + ( y , y& ) = 0

)(6

y S mg / K
y > S mg / K

y& > 0
y& = 0 ,
y& = 0 ,

) & k mgSign ( y

= ) & ( y , y
Ky
) & mgSign ( y
S

) & ( y , y y& = 0 y S mg / K ) (6
& y && y . .
.
&, x 2 = y

x1 = y

x&1 = x 2
k
c
1
) x 1 x 2 (x 1 , x 2
m
m
m

x& 2 =

my&& + ky + cy& + ( y , y& ) = 0

)(6

-----------------------------

--------

y S mg / K
y > S mg / K

y& > 0
y& = 0 ,
y& = 0 ,

) & k mgSign ( y

Ky
= ) & ( y , y
) & mgSign ( y
S

) & ( y , y y& = 0 y S mg / K ) (6
& y && y . .
.
x1 = y

&, x 2 = y

x&1 = x 2
k
c
1
) x 1 x 2 (x 1 , x 2
m
m
m

x& 2 =

(1
:
x& = x + x 2

)(x=0

) x (t .
:
x 0e t
1 x 0 + x 0e t

= ) x (t

x (0) = x 0

x& = x
x (t ) = x 0e t


--------

-----------------------------

.
) x (t .
.

:

limit cycles


.
vander pol .
mx& + 2c (x 2 1)x& + kx = 0

x 2 1 .
x

) x (t
.


--------

-----------------------------

) (

:
(1 .
.
(2

.

) Bifurcations (

.
) (
Bifurcation .

x&& + x + x 3 = 0

Duffing ) (undamped .
.

0 +x + x 3 = 0
x (x 2 + ) = 0
x e = 0 , x e =

x e = 0.


--------

-----------------------------

x e = 0 3
) (x e = 0, , x e .

= 0 Bifurcation Duffing
.
x e = 0 .
Duffing x & x
.


--------

-----------------------------

x & x
x & x .
.
x e = 0 .

chaos

.
chaos
.
chaos

.
) chaotic(

.

x&& + 0.1x& + x 5 = 6sin t

x (0) = 2 x& (0) = 3 x (0) = 2.01 x& (0) = 3.01

.
x 5 .

chaotic .


--------

-----------------------------

) (turbulence
.


chaotic .

Jump resonance
B.P OP-AMP . OP-
AMP OP-AMP
Jump
resonance .

-----------------------------

--------

(1

) x& = f (x , u , t

f 1
2
f
= f
M
n
f

x1

x
x = 2 ,
M

x3

(2
d ny
d n 1 y
&
h
t
y
y
=
[
,
,
,...,
], u , u&,...
dt n
dt n 1
x2
x&1

&

x3
x2

x& 3

x4

M
=

M
M

n 1
d y

x& n
x n = n 1 = x& n 1 x& n 1

dt
) x& n h (t , x 1 , x 2 ,..., x n , u , u&,...
x1 = y
x 2 = y& = x&1

( ) x (t
( ) x (t
( ) x (t
1
) x& = sgn(x

.
2
1
2x

= &x

-----------------------------

--------

x = + t , x = t

3
x& = 1 + x 2

:
.

f (x ,u , t ) = 0

) x& = f (x ,u , t

u f (x , t ) = 0

) x& = f (x ,u , t t 0 x 0 .

f (x 0 , t ) = 0 t t 0

:
.
g
sin = 0
l

&& +

x2

&
x1 =
x1
g

sin
x

2
x 2 = & x&1 = x 2 x& 2 l

24
3
1
4

) f ( x ,t
x2

0 x = 0 , g sin x = 0 x = k
f (x , t ) 0
g
2
1
1
sin x 1 0
l
l

-----------------------------

--------

.

x 0 x 0 .
: x& = Ax A x = 0
.
A .
1 2
2
4

= x = 0 x = , x
1
2 4
2
1
144
3
424
3
42444

A
A = (1 4) (2 2) = 0

-1
-2

.

2
x&1 = f 1 (x 1 , x 2 ) f 1 (0, 0) = 0
,
x& 2 = f 2 (x 1 , x 2 ) f 2 (0, 0) = 0

-----------------------------

--------

.
.

) x 1 + f 1 (0,0) + f 1* ( X 1 , X 2
X =0

) x1 + f 2 (0,0) + f 2* ( X 1 , X 2
X =0

f1
X 2

f 2
X 2

x1 +
X =0

x1 +
X =0

f 1
X 1

f 2
X 1

= ) f1 ( X 1 , X 2

= ) f2 (X1, X 2

X1 0
=
X 2 0

X = 0

X 1 = x 1

X 2 = x 2

f 1 f 2
f 1
x 2 x 1

f 2 x
x 2 x =0

f 1

x&1 x 1
=
&
f 2
x2
x
1

: f .
2 x1 x 2 .
i = 1, 2

) x&1 = f 1 (x 1x 2
f i (x1 , x 2 ) = 0
) x& 2 = f 2 (x 1x 2
x 1 = x1 + x 1 , x 2 = x 2 + x 2

) (x1 + x 1 ) = f 1 (x1 + x 1 , x 2 + x 2 ) = g 1 (x 1 , x 2
) x&1 = g 1 (x 1 , x 2
) (x 2 + x 2 ) = f 2 (x1 + x 1 , x 2 + x 2 ) = g 2 (x 1 , x 2
) x& 2 = g 2 (x 1 , x 2

) f i (x 1 , x 2 x 2 x1 ) g i (x 1 , x 2
.

-----------------------------

--------

(1

(2

.
(3

(1 )(Phase Plane


.

lyapunov .


--------

-----------------------------

.
.
.
.

.

.

.

describing functions
.

.


--------

-----------------------------

.

.