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COURSE DESCRIPTION: The purpose of this course is to present fundamentals of the theory of nonlinear control systems. Topics to be covered consist of:
Overview of nonlinear system analysis: a. Existence and uniqueness of solutions to ODEs, solution behaviors, b. Equilibriums, basic stability definitions, c. Controllability, Accessibility, Stabilizability. Geometric approach: a. Lie algebra, diffeomorphism, distributions, integrability, invariance b. Local decomposition of nonlinear systems, local accessibility and observability, c. Controlled invariant distributions and disturbance decoupling, d. Feedback linearization: state and output linearization, zero dynamics, MIMO case*, e. Nonlinear observers. Lyapunov stability theory: a. Stability criteria, local-global convergence, invariance results, region of attraction, b. Robustness analysis, vanishing and non-vanishing perturbations, input-to-state and input-output stability, passivity, absolute stability*, c. Back-stepping design, adaptive control. _______________________________________________________ _______________________________________________________ GRADING: 1. Assignments: 10% 2. Mid-term exam: 40% 3. Final exam: 50% _______________________________________________________ REFERENCES: 1. A. Isidori, Nonlinear Control Systems, An introduction, Springer Verlag, 2001(SEE) 2. H. Khalil, Nonlinear Systems, Prentice Hall, 2002 (SEE) 3. M. Vidyasagar, Nonlinear Systems Analysis, SIAM, 2002 4. J. J. Slotine, Applied Nonlinear Control , Prentice Hall, 1991 |
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Control systems are ubiquitous |
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Sharif university of technology Department of electrical engineering Digital systems group/Robotics
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Nonlinear Control Sys. Fall 2016-7 Credits: 3 Level: Graduate Prerequisite: Modern Control Hours: Saturday, Monday, 4 to 5:30pm Location: |
