Nonlinear systems, chaos and control in Engineeringcris/teaching/module1_masoller_part3.pdf ·...
Transcript of Nonlinear systems, chaos and control in Engineeringcris/teaching/module1_masoller_part3.pdf ·...
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Nonlinear systems, chaos
and control in Engineering
Module 1 – block 3
One-dimensional nonlinear systems
Cristina Masoller
http://www.fisica.edu.uy/~cris/
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Schedule
Flows on the
circle
(Strogatz ch. 4)
(2 hs)
Introduction to
phase
oscillators
Nonlinear
oscillator
Fireflies and
entrainment
Flows on the line
(Strogatz ch.1 & 2)
(5 hs)
Introduction
Fixed points and
linear stability
Examples
Solving
equations with
computer
Bifurcations
(Strogatz ch. 3)
(3 hs)
Introduction
Saddle-node
Transcritical
Pitchfork
Examples
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Introduction to phase oscillators
Nonlinear oscillator (Adler equation)
• Example: overdamped pendulum
Entrainment and locking
• Example: fireflies
Outline
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Example:
Phase oscillator
Flow on a circle: a function that assigns a unique
velocity vector to each point on the circle.
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Linear oscillator:
Two non-interacting oscillators
periodically go in and out of phase
Beat frequency = 1/Tlap
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Example of a phase oscillator
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Interacting oscillators
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In phase vs out of phase
oscillation
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Example: Integrate (accumulate)
and fire oscillator
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Other examples: heart beats, neuronal spikes
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(Adler equation) Simple model for
many nonlinear phase oscillators
(neurons, circadian rhythms,
overdamped driven pendulum), etc.
Nonlinear oscillator
Robert Adler (1913–2007) is best known as the co-inventor
of the television remote control using ultrasonic waves.
But in the 1940s, he and others at Zenith Corporation were
interested in reducing the number of vacuum tubes in an
FM radio. The possibility that a locked oscillator might offer
a solution inspired his 1946 paper “A Study of Locking
Phenomena in Oscillators.”
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For ||<1: simple model of an excitable system:
With a small perturbation: fast return to the stable state
But if the perturbation in larger than a threshold, then,
long “excursion” before returning to the stable state.
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Fixed points when a >
Linear stability:
The FP with cos *>0 is the stable one.
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Oscillation period when a <
a=0: uniform
oscillator T when a:
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Period grows to infinite as
Bottleneck
Generic feature at a saddle-node bifurcation
“critical slowing down”: early warning signal of a
critical transition ahead.
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Example: overdamped pendulum
driven by a constant torque
b very large:
Dimension-less equation:
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Gravity helps
the external
torque
Gravity opposes
the external
torque
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Synchronous rhythmic flashing
of fireflies
Strogatz
video
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There is a external periodic stimulus with frequency :
Model
(Ermentrout and Rinzel 1984)
But if the firefly is flashing too early, then “slows down”
If is ahead [0 < - < ] then sin( - )>0 and
the firefly “speeds up” [d/dt > ]
The parameter A measures the capacity of the firefly
to adapt its flashing frequency.
Response of a firefly () to the stimulus (): if the
stimulus is ahead on the firefly cycle, the firefly tries
to “speed up” to synchronize;
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Analysis
Dimensionless model:
detuning parameter
(Adler equation)
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The firefly and
the stimulus
flash
simultaneously
The firefly and
the stimulus are
phase locked
(entrainment):
there is a stable
and constant
phase difference
The firefly and
the stimulus are
unlocked:
phase drift
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A
Entrainment is possible only if the frequency of the
external stimulus, , is close to the firefly frequency,
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Small detuning
Potential interpretation
Large detuning
cos)( V
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Arnold tongues
If the external frequency is not close to the
firefly frequency, , then, a different type of
synchronization is possible: the firefly can fire m
pulses each n pulses of the external signal.
A
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A vector field on a circle is a rule that assigns a
unique velocity vector to each point on the circle
Summary
An oscillator can be entrained to an external
periodic signal if the frequencies are similar.
simple model to describe phase-
locking of a nonlinear oscillator
to an external periodic signal.
In the phase-locked state, the oscillator maintains
a constant phase difference relative to the signal.
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Solve Adler’s equation with =1, A=0.99 and (0)=/2
With =1, calculate the average oscillation period and
compare with the analytical expression
With =1/sqrt(2), calculate the trajectory for an arbitrary
initial condition.
Class / Home work
0 50 100 1500
5
10
15
20
25
t
x
0 0.2 0.4 0.6 0.8 15
10
15
20
25
30
35
40
45
50
A
Peri
od T
0 5 10 150
1
2
3
4
5
6
7
8
Time
(t
)
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Steven H. Strogatz: Nonlinear dynamics
and chaos, with applications to physics,
biology, chemistry and engineering
(Addison-Wesley Pub. Co., 1994). Ch. 4
A. Pikovsky, M. Rosenblum and J. Kurths,
Synchronization, a universal concept in
nonlinear science (Cambridge University
Press 2001). Chapters 1-3
Bibliography