For each lecture, one or two lecturers will be assigned. The lecturer is responsible for:
The main objective of the lectures is to gain experience in delivering scientific presentations and to foster productive discussions, which promote a more thorough understanding of the material. Although the lecturer has the primary responsibility for presenting the material, all participants share the responsibility for preparing by reading the literature in advance and for contributing actively to the discussions, preferably bringing their own questions.
| Week | Dates | Topic | Literature | Lecturers | ||
|---|---|---|---|---|---|---|
| Syllabus | Background Material | |||||
| 3 | 14.01 | Introduction | Course information Reference group Level of detail | Lemma 3.4 Theorem 4.9 | Kristin Y. Pettersen | |
| 4 | 21.01 | Lyapunov stability | Converse theorems Boundedness and ultimate boundedness | Chapters 4.7 and 4.8 | NN | |
| 5 | 28.01 | Stability of perturbed systems | Vanishing perturbation Nonvanishing perturbation Comparison method Interconnected systems | Chapters 9.1, 9.2, 9.3, 9.5 | NN | |
| 6 | 04.02 | Perturbation theory and averaging | The perturbation method Periodic perturbation of autonomous systems Averaging | Chapters 10.1, 10.3, 10.4 | NN | |
| 7 | 11.02 | Feedback linearization | Full-state feedback linearization | Chapters 13.3 and 13.4 | Isidori: Nonlinear Control Systems, Springer-Verlag, 3rd ed., 1995. Chapter 4 | NN |
| 8 | 18.02 | Sliding mode control | Sliding mode control Second-order sliding mode control | Chapter 14.1 Shtessel et al: Sliding mode control and observation, Birkhäuser Basel 2014 Chapter 4 | Shtessel et al: Sliding mode control and observation, Birkhäuser Basel 2014 Chapter 1 | NN |
| 9 | 25.02 | Super-twisting control | Super-twisting with adaptive gains Generalized super-twisting Adaptive generalized super-twisting MIMO super-twisting | Y. B. Shtessel, J.A. Moreno, F. Plestan, L.M. Fridman, and A.S. Poznyak (2010): Super-twisting adaptive sliding mode control: A Lyapunov design I. Castillo, L.M. Fridman, and J.A. Moreno (2018): Super-Twisting Algorithm in presence of time and state dependent perturbations I.-L.G. Borlaug, K.Y. Pettersen, and J.T. Gravdahl (2022): The generalized super-twisting algorithm with adaptive gains J.A. Moreno, H. Rios, L. Ovalle, and L. Fridman (2021): Multivariable Super-Twisting Algorithm for Systems with Uncertain Input Matrix and Perturbations | NN | |
| 10 | 04.03 | Control Barrier Functions (CBFs) | Maneuvering with safety guarantees using control barrier functions Control Barrier Functions: Theory and Applications Control Barrier Function Based Quadratic Programs for Safety Critical Systems | Y. M. Marley, R. Skjetne, E. Basso and A. Teel (2021): Maneuvering with safety guarantees using control barrier functions A.D. Ames, S. Coogan, M. Egerstedt, G. Notomista, K. Sreenath and P. Tabuada (2019): Control Barrier Functions: Theory and Applications A.D. Ames, X. Xu, J.W. Grizzle and P. Tabuada (2017): Control Barrier Function Based Quadratic Programs for Safety Critical Systems | NN | |
| 11 | 11.03 | Hybrid feedback control Part I | Motivation Existence of solutions Hybrid Lyapunov theory | R. Goebel, R.G. Sanfelice and P. Tabuada (2009): Hybrid dynamical systems | R. Goebel, R.G. Sanfelice and A.R. Teel (2012): Hybrid Dynamical Systems R.G. Sanfelice (2021): Hybrid Feedback Control | Henrik Schmidt-Didlaukies and Erlend A. Basso |
| 12 | 18.03 | Hybrid feedback control Part II | Hybrid invariance principle Tracking control Set-valued mappings | R. Goebel, R.G. Sanfelice and P. Tabuada (2009): Hybrid dynamical systems | R. Goebel, R.G. Sanfelice and A.R. Teel (2012): Hybrid Dynamical Systems R.G. Sanfelice (2021): Hybrid Feedback Control | Henrik Schmidt-Didlaukies and Erlend A. Basso |
| 13 | 23-27.03 | Antonio Loria 5 days course | Stability Cascaded systems Matrosov´s theorem Lyapunov stability without Lyapunov functions | Handouts and selected papers | Antonio Loria | |
Literature:
Hassan K. Khalil, Nonlinear Systems
Alternative 1: CU Nordics Edition, ISBN 9781784490133. The book can be bought at Akademika, Gløshaugen.
Alternative 2: 3rd Edition, Prentice Hall, 2002, 1995. ISBN 9780130673893. Click here to purchase the book at Amazon.com.
Both these editions contain the same material. The CU Nordics Edition is often less expensive than the 3rd edition.
(N.B.: Check the ISBN numbers to make sure that you get the correct edition. Several different editions exist, and for instance, the 2nd edition and the International edition does not contain all the material needed in this course. Also note that the book Nonlinear Control is a different book, and does not contain the material needed in this course.)
Selected conference and journal papers, in addition to handouts, in particular in connection with Antonio Loria´s lectures.