CYBER PHYSICAL SYSTEMStheory
NONLINEAR CONTROL THEORY
ICE 4402
Syllabus
- 01Lyapunov stability using Krasovskii's method
- 02Variable Gradient method
- 03L2 stability of state models
- 04L2 gain
- 05small gain theorem
- 06Passivity
- 07Memory less functions
- 08L2 gain and Lyapunov stability
- 09passivity theorems
- 10passivity based control
- 11Review of describing function method
- 12Absolute Stability Circle criterions
- 13Popov Criterion
- 14stabilization via linearization and Integral control
- 15Gain scheduling
- 16Graphical Linearization Methods
- 17Analytical Linearization Method
- 18Evaluation of Linearization Coefficients by Least-Squares Method
- 19Local linearization
- 20Feedback linearization
- 21Input-state linearization
- 22Input-output linearization
- 23Internal dynamics
- 24Zero dynamics
- 25Model Reference Adaptive Control (MRAC)
- 26Slidingmode Control
- 27sliding surfaces
- 28continuous approximations of switching control laws
- 29modeling performance trade off
- 30tracking regulation via Integral control
- 31Lyapunov redesign
- 32non-linear damping
- 33back stepping
- 34high gain observers
- 35Back stepping algorithm
References
- H.K. Khalil, Nonlinear Systems, (3e), PHI, 2002.
- R. Marino and P. Tomei Nonlinear Control Design - Geometric, Adaptive and Robust, Prentice Hall, 1995.
- J.J.E. Slotine and W.Li, Applied Nonlinear control, Prentice Hall, 1998.
- Alberto Isidori, Non-linear Control Systems, Springer Verlag, 1999.
- Zoran Vukic, LjubomirKuljaca, Nonlinear Control Systems, Marcel Dekker Inc., 2003.
Credits Structure
3Lecture
0Tutorial
0Practical
3Total