ECE 230 Nonlinear Control Systems (3-credit)

Spring 2017

Tues. and Thurs. 4:00~5:15 PM in EE120

Instructor: Dr. Woonki Na

Tel. 278-4824
E-mail: wkna@csufresno.edu
Office hours : Mon. and Wed. : 1:30~3:30 PM, and Tues. and Thurs.: 3:30~4:00 PM

Catalog Description:
ECE 230 Nonlinear Control Systems (3). Prerequisite: ECE 155 or permission of instructor.
Dynamic systems modeling and analysis; Stability; Sliding Mode control; Fuzzy Logic control;
introduction to relevant topics.

Pre-requisites by topics:
- Feedback systems theory
- Laplace Transform
- Differential Equations and Matrix Theory
- Modeling and simulation using MATLAB/SIMULINK

References:
1. Applied Nonlinear Control, by Slotine and Li, Prentice Hall, 1991,
ISBN 0-13-04-890-5.(Required)
2. Nonlinear Control Systems by H.J. Marquez, Wiley 2003, ISBN 0-471-42799-
3(Recommended)
3. Sliding Mode Control in Electro-Mechanical Systems by V. Utkin, J. Guldner and J. Shi,
2009, ISBN 9781420065602.
4. Modern Control Systems by Dorf and Bishop, 2005, ISBN 0-13-145733-0.

Course objectives:
This course is designed to build on previous background in classical analog control to
enhance knowledge in engineering design. Accounting for uncertainties and change in system
parameters are emphasized. Mathematical modeling and system representation are brought to
a higher level of sophistication to facilitate solving more advanced technical problems that
may include inherent nonlinearities. Feedback sensing, dynamic and static performance
evaluation, time response analysis, and stability analysis are also emphasized and used to
solve real world problems. Computer aided analysis and design are used in numerous
applications. Implementation and realization of controllers are also addressed in this course.
Knowledge gained in this course should enable student to identify some of the practical
problems caused by inherent nonlinear characteristics and suggest possible solutions.
The course addresses several broad areas suitable for further research to help students who
are interested in pursuing projects or thesis in the general area of control systems identify
specific subjects for their further studies.

Topics:
1. Overview and Introduction

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 2. State-Space Model
3. System Nonlinearities
4. Linearization Techniques
5. Phase-Plane Analysis
6. Describing Function
7. Lyapunov Stability and System Design
8. High Gain, Variable Structure, and Sliding Mode Control
9. Generalized Sliding Mode Control
10. Fuzzy Logic Control
11. Fuzzy/SMC
12. Introduction to Neural-Networks/Fuzzy-Logic

Goals:
1. Expand upon previous knowledge in control systems to solve advanced design problems.
2. Bring mathematical modeling and system representation to a higher level of sophistication
commensurate with solving advanced problems.
3. Expose students to real world systems engineering problems and prepare them for life-long
learning.
4. Provide students with the knowledge to identify and solve practical problems that may exist in
systems due to their inherent nonlinear characteristics.
5. Prepare students for research and development in the area of nonlinear control systems.

Learning Outcomes:
At the completion of this course, student should be able to
1. Recognize nonlinear devices and inherent nonlinearities in dynamic systems.
2. Analyze and model nonlinear systems.
3. Design and evaluate robust controllers.
4. Utilize Matlab/Simulink to model nonlinear control systems.
5. Compare performance of linear controllers to that of nonlinear controllers.

Grades:
Homework and Assignments 20%
Project 10%
Quizzes 20%
Midterm Exam 20%
Final Exam 30%

The course will have a Blackboard site at http://blackboard.csufresno.edu. You are responsible to
check the course announcements and the homework assignments posted on regular basis.

All assignments are to be turned-in at the beginning of class the following week and no later
than the time of posting the solution (for partial credit). No late assignments will be
accepted. Since the solution will be posted shortly after the due date, there may not be a
chance to turn in late assignments. No assignment will be accepted after the solution is
posted.

No individual makeup tests

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 Although you are encouraged to discuss the topics of the course with your classmates to gain
more depth of knowledge and to raise the level of interest and enthusiasm in the course, you
are expected to write independent papers for the homework. Copying problem solutions and
computer printouts is considered to cheating and plagiarism. For information on the
Universitys policy regarding cheating and plagiarism, refer to the Schedule of Courses
(Legal Notices on Cheating and Plagiarism) or the University Catalog (Policies and
Regulations).

The following scale will be used to determine the final grade:

90~100% A; 80~89.9% B; 70~79.9% C; 60~69.9% D;

Lower than 60% F

Dates to remember:

6~8, 20~25 minutes quizzes may be given during the semester .

March 9 Midterm Exam

May 7 or 14 (TBA) Final Exam

POLICIES:
A. Course Policies
You should consult Blackboard on regular basis for announcements, assignments and due dates.
You must attend all lab sessions and contribute to the work at hand.
The above topics and procedures for this course are subject to change in the event of extenuating
circumstances. These changes will be announced in class and you are responsible to find out about
these them from your classmates if you happened to have been absent the day the announcement was
made.
Students with disabilities are reminded to identify themselves to the university and the instructor so
reasonable accommodation for learning and evaluation can be made.
You are referred to the university's policy regarding student conduct. University policies are stated in
the university Catalog, Schedule of Courses, and other university publications.
Safety is important and caution must be exercised at all times. You are responsible for your safety and
for the equipment you are using. Use commonsense in handling equipment and avoid any abuse in use.
The following precautions are of the utmost importance:
Dont work in the lab by yourself at any time.
Use the phone in the room to call 911 in case of emergencies
Avoid unnecessary internet surfing
Dont apply power to the system if you are unsure of any part of the system
Keep your bench organized and clean at all times
Dont bring food or drinks to the lab at any time

B. University Policies
Students with Disabilities: Upon identifying themselves to the instructor and the university, students with
disabilities will receive reasonable accommodation for learning and evaluation. For more information,
contact Services to Students with Disabilities in University Center Room 5 (278-2811).

Honor Code: Members of the CSU Fresno academic community adhere to principles of academic
integrity and mutual respect while engaged in university work and related activities. You should:

1. Understand or seek clarification about expectations for academic integrity in this course
(including no cheating, plagiarism and inappropriate collaboration).

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 2. Neither give nor receive unauthorized aid on examinations or other course work that is used
by the instructor as the basis of grading.
3. Take responsibility to monitor academic dishonesty in any form and to report it to the
instructor or other appropriate official for action.

Instructors may require students to sign a statement at the end of all exams and assignments that says:

I have done my own work and have neither given nor received
unauthorized assistance on this work.

Cheating and Plagiarism: Cheating is the actual or attempted practice of fraudulent or deceptive acts for
the purpose of improving ones grade or obtaining course credit; such acts also include assisting another
student to do so. Typically, such acts occur in relation to examinations. However, it is the intent of this
definition that the term cheating not be limited to examination situations only, but that it include any and
all actions by a student that are intended to gain an unearned academic advantage by fraudulent or
deceptive means. Plagiarism is a specific form of cheating which consists of the misuse of the published
and/or unpublished works of others by misrepresenting the material (i.e., their intellectual property) so used
as ones own work. Penalties for cheating and plagiarism range from a 0 or F on a particular assignment,
through an F for the course, to expulsion from the university. For more information on the Universitys
policy regarding cheating and plagiarism, refer to the Schedule of Courses (Legal Notices on Cheating and
Plagiarism) or the University Catalog (Policies and Regulations).

Plagiarism Detection: The campus subscribes to the Turnitin plagiarism prevention service
(http://turnitin.com/), and you may need to submit written assignments to Turnitin via Blackboard
(http://blackboard.csufresno.edu/). Your work will be used by Turnitin for plagiarism detection and for no
other purpose. You may indicate in writing to the instructor that you refuses to participate in the Turnitin
process, in which case the instructor can use other electronic means to verify the originality of the work.
Turnitin Originality Reports will generally be available for your viewing.

Computers: At California State University, Fresno, computers and communications links to remote
resources are recognized as being integral to the education and research experience. Every student is
required to have his/her own computer or have other personal access to a workstation (including a modem
and a printer) with all the recommended software. The minimum and recommended standards for the
workstations and software, which may vary by academic major, are updated periodically and are available
from Information Technology Services (http://www.csufresno.edu/ITS/) or the University Bookstore. In the
curriculum and class assignments, students are presumed to have 24-hour access to a computer workstation
and the necessary communication links to the Universitys information resources.

Disruptive Classroom Behavior: The classroom is a special environment in which students and faculty
come together to promote learning and growth. It is essential to this learning environment that respect for
the rights of others seeking to learn, respect for the professionalism of the instructor, and the general goals
of academic freedom are maintained. ... Differences of viewpoint or concerns should be expressed in terms
which are supportive of the learning process, creating an environment in which students and faculty may
learn to reason with clarity and compassion, to share of themselves without losing their identities, and to
develop and understanding of the community in which they live . . . Student conduct which disrupts the
learning process shall not be tolerated and may lead to disciplinary action and/or removal from class.

Copyright policy: Copyright laws and fair use policies protect the rights of those who have produced the
material. The copy in this course has been provided for private study, scholarship, or research. Other uses
may require permission from the copyright holder. The user of this work is responsible for adhering to
copyright law of the U.S. (Title 17, U.S. Code). To help you familiarize yourself with copyright and fair
use policies, the University encourages you to visit:

http://www.csufresno.edu/library/libraryinformation/campus/copyright/copyrtpolicyfull.pdf.

For copyright Questions and Answers:

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 http://www.csufresno.edu/library/libraryinformation/campus/copyright/faqcopyright.pdf.

Digital Campus course websites contains material protected by copyrights held by the instructor, other
individuals or institutions. Such material is used for educational purposes in accord with copyright law
and/or with permission given by the owners of the original material. You may download one copy of the
materials on any single computer for non-commercial, personal, or educational purposes only, provided
that you (1) do not modify it, (2) use it only for the duration of this course, and (3) include both this notice
and any copyright notice originally included with the material. Beyond this use, no material from the
course web site may be copied, reproduced, re-published, uploaded, posted, transmitted, or distributed in
any way without the permission of the original copyright holder. The instructor assumes no responsibility
for individuals who improperly use copyrighted material placed on the web site.

Subject to Change: The syllabus and schedule are subject to change in the event of extenuating
circumstances.

Tentative Course Schedule

The schedule and procedures for this course are subject to change in the event of extenuating
circumstances.

Start Date/End Topic Textbook Chapter

Week
Date

Week 1 1.17-1.19 Introduction 1

Week 2 1.24 1.26 Per Phase Analysis 2

Week 3 1.31 2.2 Basic Lyapunov Theory 3

Week 5 2.7 2.9 Lyapunov Stability Analysis 3

Week 6 2.14 2.16 Advanced Stability Theory 4

Week 7 2.21 2.23 Advanced Stability Theory 4

Week 8 2.28 3.2 Describing Functions 5

Week 9 3.73.9 Describing Functions, Mid-term 5

Describing Functions, 6
Week 10 3.143.16
Feedback Linearization

Week 11 3.213.23 Feedback Linearization 6

Feedback Linearization, 6,7

Week 12 3.283.30
Sliding Mode Control(SMC)

Week 13 4.44.6 SMC 7

Week 14 4.114.13 Spring Break 7

Week 15 4.184.20 SMC, Fuzzy Logic Control(FLC) Other resources

Week 16 4.254.27 FLC Other resources

Week 17 5.25.4 FLC, NN(Neural Network) Other resources

Week 18 5.9 NN, Review Other resources

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One or two lectures will be missed due to attendances of some workshops or conferences.
However, extra on-line lecture materials will be available during my absences.

Final Exam in ECE 230 will be held on Thurs. May 18 5:45PM - 7:45 PM.

(Please check the blackboard announcement for the final exam date)
If you are absent from class, it is your responsibility to check on announcements made while
you were absent.