Automated Linearization of a System of Nonlinear Ordinary Differential Equations
Mazakova A. Jomartova S. Wójcik W. Mazakov T. Ziyatbekova G.
2023Polska Akademia Nauk
International Journal of Electronics and Telecommunications
2023#69Issue 4655 - 660 pp.
—This paper investigates the possibility of automatically linearizing nonlinear models. Constructing a linearised model for a nonlinear system is quite labor-intensive and practically unrealistic when the dimension is greater than 3. Therefore, it is important to automate the process of linearisation of the original nonlinear model. Based on the application of computer algebra, a constructive algorithm for the linearisation of a system of non-linear ordinary differential equations was developed. A software was developed on MatLab. The effectiveness of the proposed algorithm has been demonstrated on applied problems: an unmanned aerial vehicle dynamics model and a two-link robot model. The obtained linearized models were then used to test the stability of the original models. In order to account for possible inaccuracies in the measurements of the technical parameters of the model, an interval linearized model is adopted. For such a model, the procedure for constructing the corresponding interval characteristic polynomial and the corresponding Hurwitz matrix is automated. On the basis of the analysis of the properties of the main minors of the Hurwitz matrix, the stability of the studied system was analyzed.
Computer algebra , Controllability , Keywords—Ordinary differential equation , MatLab , Stability
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Computational Technologies CS MES RK, Al-Farabi Kazakh National University, Kazakhstan
Lublin Technical University, Poland
Al-Farabi Kazakh National University, Kazakhstan
Computational Technologies CS MES RK
Lublin Technical University
Al-Farabi Kazakh National University
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