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Nonlinear Systems and Control: Outline Topic No. of Lectures Textbook Section

This document outlines the lecture plan for a course on nonlinear systems and control. It will cover topics like second-order systems, stability of equilibrium points, passivity, input-state and input-output stability, special nonlinear forms, stabilization, robust stabilization, tracking, observers, and regulation via integral control over 40 lectures. Key textbook sections will be covered in each lecture, along with the specific lecture topics like nonlinear models, phase portraits, Lyapunov's method, feedback systems, input-output stability, feedback linearization, cascaded systems, backstepping, sliding-mode control, and passivity-based control.

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Mustafa Kösem
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© Attribution Non-Commercial (BY-NC)
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Download as PDF, TXT or read online on Scribd
33 views

Nonlinear Systems and Control: Outline Topic No. of Lectures Textbook Section

This document outlines the lecture plan for a course on nonlinear systems and control. It will cover topics like second-order systems, stability of equilibrium points, passivity, input-state and input-output stability, special nonlinear forms, stabilization, robust stabilization, tracking, observers, and regulation via integral control over 40 lectures. Key textbook sections will be covered in each lecture, along with the specific lecture topics like nonlinear models, phase portraits, Lyapunov's method, feedback systems, input-output stability, feedback linearization, cascaded systems, backstepping, sliding-mode control, and passivity-based control.

Uploaded by

Mustafa Kösem
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as PDF, TXT or read online on Scribd
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NONLINEAR SYSTEMS AND CONTROL

Topic Introduction Second-order systems Stability of equilibrium points Passivity Input-state and Input-output stability Special nonlinear forms Stabilization Robust stabilization Tracking Observers Regulation via integral control + indicates additional material
Lecture # 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28

Outline No. of lectures 2 4 7 4 4 3 7 3 2 4 1 Lecture Plan

Textbook Section 1.1-1.2 & 3.1-3.2 2.1-2.5 & 2.7 4.1-4.5, 4.7, 8.2 & 9.1 6.1-6.5 & 7.1 4.8, 9.2, 4.9, 5.1-5.4 & 6.4 13.2-13.3 + 12.1-12.2, 13.4.1, 14.3, 14.4+ 14.1.1-14.1.2, 14.2 & 14.3 13.4.2, 14.1.3 + 14.5 + 12.3-12.4, 14.1.4, 14.5.3 +

General Topic Introduction 2nd-order systems

Stability of EPs

Passivity

IS & IO stability

Nonlinear forms

Stabilization

Lecture Topic Nonlinear models Examples Phase portraits Multiple equilibria Limit cycles Bifurcation Basics & linearization Lyapunovs method Lyapunovs method Invariance principle Exp stability & ROA Converse thms & TVS Perturbed systems Memoryless&S models PRTF & Lyapunov Feedback systems Circle & Popov Criteria Ultimate bound & ISS Input-output stability L stability of S models L2 gain& mall gain thm Normal form Controller form Observer, output & SF Concepts&linearization Feedback linearization Cascaded systems Backstepping

29 30 31 32 33 34 35 36 37 38 39 40 41

Robust stabilization

Tracking Observers

Integral control

Passivity-based control Control Lyapunov fn Output feedback Sliding-mode control Sliding-mode control Lyapunov redesign&BS Feedback lineariz/SMC Point-to-point Linearization & EKF Exact Observers High-gain observers High-gain observers Linearization & SMC

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