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    Example: 42 The equations the nonlinear motion of a mechanical oscillator is

    𝑦̈ (𝑡) + 2𝑦(𝑡) + sin(𝑦(𝑡)) = 𝑢(𝑡) 𝑦(0) = 0 𝑦̇ (0) = 1


    The objective is to linearize the model around the following nominal trajectory
    𝑦𝑛 (𝑡) = 1 − 𝑒 −𝑡 which leads to the nominal control trajectory

    𝑢𝑛 (𝑡) = 𝑦̈𝑛 (𝑡) + 2𝑦𝑛 (𝑡) + sin(𝑦𝑛 (𝑡)) = 2 + sin(1 − 𝑒 −𝑡 ) − 3𝑒 −𝑡


    Here is the MATLAB code for the numerical linearization of the given nonlinear
    oscillator around this nominal trajectory.
    clear, clc, function dx=Linear(A,B,xd,up,t), dx=A*xd+B*up; end
    function [A,B]=linearizedesys(f,x0,u0)
    n=size(x0,1);m=size(u0,1);h=0.001;
    In=eye(n,n);Im=eye(m,m); A=zeros(n,n);B=zeros(n,m);
    for k=1:n, A(:,k)=(f(x0+h*In(:,k),u0)-f(x0,u0))/h; end
    for k=1:m, B(:,k)=(f(x0,u0+h*Im(:,k))-f(x0,u0))/h; end
    end
    dt=0.01; t=0:dt:10; x(:,1)=[0; 1]; xd(:,1)=[0; 0];
    f=@(x,u)[x(2);-2*x(1)-sin(x(1))+u]; % The Nonlinear Model
    for k=1:length(t)-1
    un(k)=2+sin(1-exp(-t(k)))-3*exp(-t(k)); % The nominal control
    du(k)=0.2*(1+sign(sin(100*t(k)))); % The input perturbation
    u(k)=un(k)+du(k); x(:,k+1)=x(:,k)+dt*f(x(:,k),u(k));
    xn(:,k)=[1-exp(-t(k));exp(-t(k))]; % Nominal state trajectory
    [A,B]=linearizedesys(f,xn(:,k),un(k)); % Numerical linearization
    xd(:,k+1)=xd(:,k)+dt*Linear(A,B,xd(:,k),du(k),t(k));
    xl(:,k)=xn(:,k)+xd(:,k);
    end
    figure, subplot(2,1,1), plot(t, x(1,:),'-r','linewidth',1.5),
    grid on, hold on, plot(t(1:end-1),xl(1,:),'--b','linewidth',1.5),
    subplot(2,1,2), plot(t(1:end-1),u,'linewidth',1.5)

    Comparision Study

    Nonlinear 𝑦
    scope
    system

    + 𝛿𝑢 Linearized 𝛿𝑦
    𝑢 system + mux
    − +

    𝑢𝑛 𝑦𝑛
    From storage From storage
    Let we design a state feedback controller 𝛿𝑢 = −𝐾. 𝛿𝑦 and we try to do a comparision
    study with the nonlinear results

    clear, clc, function dx=Linear(A,B,xd,up,t), dx=A*xd+B*up; end


    function [A,B]=linearizedesys(f,x0,u0)
    n=size(x0,1);m=size(u0,1);h=0.001;
    In=eye(n,n);Im=eye(m,m); A=zeros(n,n);B=zeros(n,m);
    for j=1:n, A(:,j)=(f(x0+h*In(:,j),u0)-f(x0,u0))/h; end
    for j=1:m, B(:,j)=(f(x0,u0+h*Im(:,j))-f(x0,u0))/h; end
    end
    function du=control(A,B,xd), du=-place(A,B,[-1, -2])*xd; end

    dt=0.01; t=0:dt:10; x(:,1)=[0; 1]; xd(:,1)=[0.002 0.001];


    f=@(x,u)[x(2);-2*x(1)-sin(x(1))+u]; % The Nonlinear Model

    for k=1:length(t)-1
    un(k)=2+sin(1-exp(-t(k)))-3*exp(-t(k)); % The nominal control
    xn(:,k)=[1-exp(-t(k));exp(-t(k))]; % Nominal state trajectory
    [A,B]=linearizedesys(f,xn(:,k),un(k)); % Numerical linearization
    du(k)=control(A,B,xd(:,k)); % State Feedback Control
    u(k)=un(k)+du(k); x(:,k+1)=x(:,k)+dt*f(x(:,k),u(k));
    xd(:,k+1)=xd(:,k)+dt*Linear(A,B,xd(:,k),du(k),t(k));
    xl(:,k)=xn(:,k)+xd(:,k);
    end
    figure, subplot(2,1,1), plot(t, x(1,:),'-r','linewidth',1.5),
    grid on, hold on, plot(t(1:end-1),xl(1,:),'--b','linewidth',1.5),
    subplot(2,1,2), plot(t(1:end-1),u,'-b','linewidth',1.5)
    figure, plot(t, xd(1,:),'-r','linewidth',1.5), grid on

    Nonlinear control Problem

    From storage
    𝑢𝑛

    + 𝑢 Nonlinear 𝑦
    scope
    system
    +
    𝛿𝑢

    Linearized 𝛿𝑦
    system + mux
    +
    𝛿𝑢
    −K 𝑦𝑛
    From storage

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