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Nonlinear Control
Organization
| Lecturer | Prof. Dr.-Ing. Frank Allgöwer |
|---|---|
| Dipl.-Ing. Mathias Bürger | |
| Teaching assistant | Dipl.-Ing. Christoph Maier |
Attention: Rooms have changed!
Time and place (3V/1Ü, 6 ECTS):
| Wednesday | 09.45 - 11.15 |
|
| Thursday |
09.45 - 11.15 |
|
The course is given in English.
All the lecture material is available in the Ilias learning management system. You find the material under:
-
repository > engineering > engineering cybernetics >
lehrveranstaltungen SS 13 > nonlinear control
The password will be announced in the lecture.
Prerequisites
The course is intended for students having already visited ERT and KRT or have equivalent knowledge.
This course can be chosen within the area "Systemtheorie" for the study program Engineering Cybernetics.
Content:
This lecture will cover modern analysis and controller design methods for nonlinear systems including- Mathematical basics for nonlinear control
- Lyapunov stability
- Lyapunov-based controller design
- Input-output stability
- Passivity
- Dissipativity
- Passivity-based control
Literature
- H. K. Khalil, Nonlinear Systems, Prentice Hall, 2002. Publisher
Link
Errata - R. Sepulchre, Constructive Nonlinear Control, Springer-Verlag, 1997. Download
Course schedule:
Color code for exercises: easy, medium, difficult
| Topic | Reference |
| Introduction: Examples of nonlinear phenomena |
Slides |
| Mathematical foundations of nonlinear control | Khalil Appendix A and B Exercises 1.1, 1.2, 1.3, 1.7 |
| Fundamental properties of nonlinear systems | Khalil chapter 3.1 Exercises 3.1, 3.2, 3.3, 3.4, 3.5, 3.19, 3.20 |
| Lyapunov stability | Khalil chapter 4.1–4.3 Exercises 4.2, 4.3, 4.4, 4.8, 4.9, 4.10, 4.11, 4.12, 4.14, 4.15, 4.16, 4.17, 4.26, 4.29 |
| Sliding mode control | Khalil chapter 14.1 Exercises 14.1a, 14.2, 14.6, 14.12 |
| Comparison functions, stability of non-autonomous systems, converse theorems | Khalil chapter 4.4, 4.5, 4.7 Exercises 4.34, 4.35, 4.37, 4.42, 4.43, 4.44, 4.47, 4.48 |
| Input-to-state stability | Khalil chapter 4.9 Exercises 4.54, 4.55, 4.56, 4.58 |
| Input-output stability | Khalil chapter 5 Exercises 5.1 5.5 5.12 5.13 5.16 5.18 |
| Control Lyapunov functions | R. Sepulchre, Constructive Nonlinear Control, Chapter 3.5 Examples 3.42, 3.45, 3.46 |
| Backstepping: Robust & adaptive control | Khalil chapter 14.3 Exercises 14.30, 14.31, 14.32, 14.33, 14.34, 14.38(a) |
| Passivity | Khalil Chapter 6
Exercises 6.6 , 6.10, 6.18, 6.9 |
| Passivity-based control | Khalil Chapter 14.4 Exercises 14.42, 14.43, 14.57 Sepulchre Examples 2.48 and 14.17, |
| Dissipativity & observer design | Khalil Chapter 14.5 |