Handout 14:Introduction to nonlinear systesm Eric Feron Mar 29, 2004 Linear systems reminder: y(u) = main properties of linear dynamical systems 1Ma From transfer functions to ordinary di?erential equations: 2 Di?erential equations and physical systems 3 Nonlinear systems: Examples Nonlinear Pendulum Chemical Reactions Kinetics: 4 (very) nonlinear mechanical systems: Rollercoasters Case 1: Not linear at equilibrium Case II: High sensitivity to initial conditions (not like linear systems) 5 ”hard” nonlinearities Dead zones Saturations 6 ”Bang Bang” Backlash 7 Hysteresis Dry Friction, Stiction, Stick-slip 8