Automatic Control and System Dynamics
Course NC

Nonlinear Control

Organisation and Notes


Extent (SWS) Lecture: 3 SWS / Exercise: 2 SWS/ Practical course: 0 SWS
Term Winter semester
Events, Lecturer, Location Link to the current schedule
Exam Presumably written exam
OPAL Registration and course material

 

You can ask quastions or give feedback here!

Content

Course

  1. Introuction to nonlinear systems (basic concepts, models, state equalities, linearization methods, properties)
  2. Stability of nonlinear systems (stability concepts, Lyapunov, stability testing)
  3. Lyapunov-based controller design (LQ, backstepping, sliding-mode, etc.)
  4. Linearization-based controller design (basic concepts, Lie derivative, controllability)

Exercises, evidence tasks and course material

  • provided online in OPAL

Desirable final skills

  • Derivation of controller design methods based on fundamental structural properties
  • Design of nonlinear closed-loops in state space
  • Knowledge of modern nonlinear control concepts

Literature

  1. Khalil, H.K.: Nonlinear Systems. Prentice-Hall, 3. Auflage, 2001.
  2. Márquez, H.: Nonlinear Control Systems: Analysis and Design. Wiley, 2008.
  3. Isidori, A.: Nonlinear Control Systems. Springer, 1995.
  4. Sastry, S.: Nonlinear Systems: Analysis, Stability, and Control. Springer, 2010.
  5. Sepulchre, R.; Jankovic, M.; Kokotovic, P.V.: Constructive Nonlinear Control, 1996.