Nonlinear Control Systems

Course Outline -Spring 2012 School of Electrical Engineering & Computer Science, Kyungpook National University

Instructor: Kalyana C. Veluvolu, Ph.D Oce:IT3-409 Email: veluvolu@ee.knu.ac.kr

Tel: 053-950-7232

Lecture: MON: 1:30 pm ~ 3:00 pm; TUE: 10:30 am ~ 12:00 pm Course Description This course is intended to introduce the student to the analysis of the qualitative behavior of nonlinear systems, and the synthesis and design of controllers for such systems. The course begins with an introduction to nonlinear system theory and stability analysis. The latter half of the course presents techniques for nonlinear control design with particular emphasis on techniques applicable to mechanical and electrical systems. Course Objectives The goals of the course are: 1. to introduce students to nonlinear dynamical systems and phenomena with examples drawn from mechanical systems. 2. to provide methods of characterizing and understanding the behavior of systems that can be described by nonlinear ordinary dierential equations. 3. to provide the necessary methods for designing controllers for such systems. 4. to provide applications relevant to the mechanical engineering disciplines where the course material can be applied (aerospace control, vehicle control, process control, control of dynamical systems . . . ). Textbook Khalil, H. K. Nonlinear Systems, 3rd Edition, Prentice Hall, Upper Saddle River, NJ, 2002. References Sastry, S. Nonlinear Systems: Analysis, Stability, and Control, Springer, New York, NY 1999. Slotine, , J.-J. E. and W. Li. Applied Nonlinear Control, Prentice Hall, Englewood Clis, NJ, 1991. prerequisites It is requested that the student be familiar with basic concepts and tools of linear algebra, dierential equations and linear control methods. The student should also be able to use some simulation software (e.g., MATLABR). 1

Course Outline I. Mathematical Analysis 1. Introduction a. Phenomena of Nonlinear Systems (Multiple Equilibria, Limit Cycles, Bifurcations, Chaos). b. Examples of Simple Nonlinear Systems. 2. Planar (Second-Order) Dynamical Systems a. b. c. d. Phase Plane Techniques Limit Cycles - Bendixson Criterion Multiple Equilibria - Index Theory Bifurcation - Fold, Pitch, Fork, Hopf, Saddle Connection

3. Mathematical Preliminaries a. Linear Algebra - Vector Spaces, Norms, Contraction Mapping Theorem b. Dierential Equations and Vector Fields c. Existence and uniqueness of solutions for dierential equations- Lipschitz II. Stability Theory 1. Lyapunov Stability and Instability a. b. c. d. e. Denitions of State-Space Stability Basic Lyapunov Stability Theorems, Converse Lyapunov Stability Theorems Exponential Stability Theorems- LaSalle Principle Stability of Linear Systems and Nonlinear Systems Frequency Domain Analysis: Absolute Stability, Circle Criterion, Popov Criterion

2. Input-Output Stability a. Denitions of Input-Output Stability b. Small Gain Theorem c. Passivity and Passivity Theorems III. Feedback Control 1. SISO Systems a. Input-Output Linearization b. Full-State Linearization c. Zero Dynamics, Stabilization, Tracking 2. MIMO Systems (if time permits)
a. Linearization by Static State Feedback b. Full State Linearization c. Dynamic Extension 3. Nonlinear Design Tools a. Backstepping techniques b. Nonlinear Observers c. Sliding Mode Control and introduction to dierential geometry.

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Project and Final Report The class will be divided into teams of two or three students. Each team is required to complete a special project in nonlinear control. A written paper describing the project is to be submitted. The project must be clearly related to this course and is subject to the instructors approval. The project report may take one of three forms: 1. A detailed survey paper which describes a special topic in nonlinear control. 2. An in-depth theoretical and numerical analysis of a specic problem in nonlinear control. 3. A nonlinear control design/simulation experiment which makes use of methods described in the course.

Learning Outcomes By the end of the course, 1. The student will gain insight into the complexity of nonlinear systems. 2. The student will be able to apply methods of characterizing and understanding the behavior of systems that can be described by nonlinear ordinary dierential equations 3. The student will be able to use tools for analysis of nonlinear control systems, including computer-aided analysis (Matlab R and nonlinear simulation 4. The student will be able to use a complete treatment of design concepts for linearization via feedback 5. The student will be able to identify and model realistic and challenging examples of nonlinear control mechanical systems design 6. The student will demonstrate an ability to interact and communicate eectively with peers

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