Lecture plan
Lectures
For each lecture, one or two lecturers will be appointed. The lecturer has the responsibility of:
- Preparing a presentation of the literature for the given lecture.
- Preparing a number of questions for discussion during/after the presentation.
- Optional: Generating one or more exercises with solution, that illustrate and give an even better understanding of the material.
- Upload the lecture slides (and possibly exercises) in Blackboard by Monday morning before the lecture.
It is a main objective of the lectures to become trained in giving scientific lectures, and to have good discussions as these lead to a more thourough comprehension of the material. Although the lecturer have the responsibility of presenting the material, it is a joint responsibility for all attendants to prepare well by reading the literature in advance and participate actively in the discussions, preferably bringing their own questions for discussion.
Schedule (Subject to changes)
| Week | Dates | Topic | Literature | Lecturers | ||
|---|---|---|---|---|---|---|
| Syllabus | Background Material | |||||
| 3 | 18.01 | Introduction | Course information Reference group Level of detail | Lemma 3.4 Theorem 4.9 | Kristin Y. Pettersen | |
| 4 | 25.01 | Lyapunov stability | Converse theorems Boundedness and ultimate boundedness | Chapters 4.7 and 4.8 | Trond Markus Tutturen | |
| 5 | 01.02 | Stability of perturbed systems | Vanishing perturbation Nonvanishing perturbation Comparison method Interconnected systems | Chapters 9.1, 9.2, 9.3, 9.5 | Mads Erlend Bøe Lysø | |
| 6 | 08.02 | Perturbation theory and averaging | The perturbation method Periodic perturbation of autonomous systems Averaging | Chapters 10.1, 10.3, 10.4 | Hannah Chaplin and Mohamed Maktabi |
|
| 7 | 15.02 | Feedback linearization | Full-state feedback linearization | Chapters 13.3 and 13.4 | Isidori: Nonlinear Control Systems, Springer-Verlag, 3rd ed., 1995. Chapter 4 | Hareesh Chitikena and Minh Tuan Hua |
| 9 | 01.03 | 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 | Ivan Gushkov and Torje S. Nysæther |
| 10 | NB 16.03 | 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 | Jan Inge Dyrhaug | |
| 11 | 15.03 | 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 | Erling Tveter | |
| 12 | 22.03 | Hybrid feedback control Part I | Topic 1 Topic 2 Topic 3 | Literature | Background literature | Erlend A. Basso and Henrik Schmidt-Didlaukies |
| 13 | 29.03 | Hybrid feedback control Part II | Topic 1 Topic 2 Topic 3 | Literature | Background literature | Erlend A. Basso and Henrik Schmidt-Didlaukies |
| 16 | 17-21.04 | 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.