Lecture plan
The chapters refer to the textbook: Hassan K. Khalil, Nonlinear Systems, cf. TTK4150
| Week | Dates | Topic | Literature | Comments |
|---|---|---|---|---|
| 34 | Preliminaries | Appendix A | Important mathematical tools that will be used throughout the course. | |
| Introduction | Chapter 1 | Nonlinear phenomena - how nonlinear systems are different from linear systems, and we therefore need new tools for analysis and control design. | ||
| 35 | 30.08. | Fundamental properties | Chapter 3: 3.1 | Existence and uniqueness of solutions are no matter of course for nonlinear system dynamics, and have to be established to validate the system model. |
| Second-order time-invariant systems | Chapter 2: 2.1-2.6 | Nonlinear analysis (and control design), start. | ||
| 36 | Lyapunov stability | Chapter 4: 4.1-4.5 Section 4.7: Th. 4.15 Cor. 4.3 Chapter 8: 8.2-8.3 | Including energy-based control design | |
| 37 | 13.09. | |||
| 38 | 20.09. | |||
| 39 | 27.09. | |||
| 40 | 04.10 | Input-to-State Stability (ISS) and Input-Output-Stability (IOS) | Chapter 4: 4.9 Chapter 5: 5.1 and 5.4 | Including cascaded control |
| 41 | Study week - No lecture | Study week: Start working on exams from previous years, in order to review and deepen your understanding and skills of the topics that we have worked on through Weeks 34 - 40. | ||
| 42 | 18.10 | Passivity-based control | Chapter 6: 6.1-6.2 6.4-6.5 | Nonlinear feedback control design: The analysis tools found the basis for the control design. This is formalized in a number of design methods, including: -Energy-based control design -Cascaded control -Passivity-based control design -Feedback linearization -Adaptive control -Backstepping |
| 43 | 25.10. | Passivity-based control design | Chapter 14: 14.4 | |
| 44 | 01.11. | Feedback linearization | Chapter 13: 13.1-13.2 13.4 | |
| 45 | 8.11. | Adaptive control | Compendium Lavretsky and Wise: Chapter 7 | |
| 46 | 15.11. | Backstepping | Chapter 14: 14.3 |