Course Description
Examines how nonlinear systems can be analyzed as well as controlled. In particular, we will discuss various notions of stability and develop general theories on how to establish stability properties for nonlinear systems. Various applications will be covered in different engineering disciplines.
Athena Title
Nonlinear Control Systems
Prerequisite
ELEE 4220/6220 or permission of department
Semester Course Offered
Offered fall
Grading System
A - F (Traditional)
Course Objectives
The course first gives an introduction to nonlinear systems theory and then examines the nonlinear control systems design, with a particular emphasis on the use of geometric principles. Topics covered include stability, controllability, observability for nonlinear systems; feedback and input/output linearization for nonlinear systems; zero dynamics; output tracking and regulation.
Topical Outline
1. Introduction 2. Second-order nonlinear systems 3. Stability of equilibrium points (using Lyapunov’s method) 4. Definition and applications of passivity 5. Differential geometry; Lie brackets and lie algebra 6. Input-state and input-output stability 7. Special nonlinear forms (normal and controller form) 8. Stabilization of nonlinear systems (feedback linearization and backstepping) 9. Robust stabilization (sliding mode control and Lyapunov redesign) 10. Nonlinear control design for tracking