# Non-Linear Control System and Motor synchronization

by dt2611
Tags: control, motor, nonlinear, synchronization
 P: 2 Hello, I am currently trying to design a system that will sychronize two propellor motors, and I must design using the following equation: w'*I + (w^2*r^2*p*S*C_d)/(2) = T_t + T_ss w' = Angular acceleration I = moment of inertia w = angular velocity r = radius of blade p = air density S =Surface Area C_d = Drag coeeficient T_t = transient torque T_ss = Steady state torque The problem is this is a non-linear system, and I do not know how to 'linearize' the system to use general linear control system theory. Any help would be greatly appreciated. Thanks.
 P: 201 this is just a shot in the dark, but can you break the problem up into 2 linear models? Will that help at all?
 P: 2 what do you mean by two linear models?
P: 201

## Non-Linear Control System and Motor synchronization

sorry, probably worded that wrong.

Is there anyway to break the problem up into pieces? Other than that, I don't have much to offer, sorry.
 P: 341 For linearization, follow the procedure in http://en.wikipedia.org/wiki/Jacobian and evaluate at the operating point that you want. It will clear out the nonlinear terms in the Jacobian and give you a linear system at that point in the form of $$\dot{x} = Ax + Bu$$

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