Instructor
Postdoc Esten Ingar Grøtli
Motivation
Physical systems are generally nonlinear. In some cases a linear approximation of the system is a good enough model for analysis and design, while in others the system has dominating nonlinear effects that makes a linear approximation a non-satisfactory model for the system. It is therefore important to master techniques of analysis and control design for nonlinear systems. This course presents methods for analysis and design of nonlinear systems, with an emphasis on nonlinear control systems.
Course Outline
The following topics are covered in the course:
- Mathematical models of nonlinear systems, and fundamental differences between the behavior of linear and nonlinear systems. Equilibrium points, limit cycles and general invariant sets.
- Phase plane analysis, Lyapunov stability, Input-to-state stability, Input-Output stability, Passivity analysis and the Describing Function Method.
- Nonlinear control design, including Energy-based control, Cascaded control, Passivity-based control, Input-Output linearization, Backstepping and Gain-scheduling.
Form of Instruction
Lectures and assignments.
Literature
Hassan K. Khalil, Nonlinear Systems, Third edition, Prentice Hall 2002. Selected conference and journal papers.
(The book Applied Nonlinear Control by J.-J. Slotine and W. Li, Prentice hall 1991, is recommended as support literature, but does not cover all the material in the Course Syllabus)
Prerequisites
TTK4105 Control Engineering and TTK4115 Linear System Theory, or corresponding courses. It is an advantage, but not an prerequisite, to also follow the course TMA4145 Linear Methods.
You can also take a look at Course facts TTK4150 Nonlinear Control Systems.
