Course Details

Time and Place:

T, R 8:00 PM to 9:20 PM classroom in Norton 214.

Office Hours:

Drop in anytime during my office hours, which are T, R at 3:00-4:00 pm. Otherwise call to make an appointment, or contact me via e-mail:

Office: 1009 Furnas Hall, Office Tel: 645-2593 x2235.

Description:

This course will cover techniques to analyze and synthesize controllers for Nonlinear systems. We will cover phase-plane analysis ( Phase Plane Analysis Tool, Lorenz Attractor ) and Lyapunov based analysis for nonlinear systems. Following this, the sliding mode control technique will be covered for both continuous systems and discrete time systems. The course will conclude with discussions of techniques to design adaptive controllers.

Objectives:

Virtually all systems in nature are nonlinear. To date, linear theory has been applied to these systems after linearizing them about an operating point and assuming that the excursion of the system from the operating point is small. When the demand on the controlled system increases (speed of operation, range of operation etc.) it is possible that the linear controllers will perform poorly and might even destabilize the system. Thus there exists a need to analyze nonlinear systems and design controllers without linearization. The objective of this course is to provide graduate students with tools necessary to analyze nonlinear systems and some modern nonlinear control technique to regulate them. Undergraduate control course background or permission of instructor is the prerequisite for this course.

Prerequisites:

MAE571/Permission of Instructor.

Textbook:

Slotine, J. J., and Li, W. Applied Nonlinear Control, Prentice-Hall, Englewood Cliffs, New Jersey, First Edition 1991. There will be occasional handouts to supplement the textbook.

Homework:

Homeworks will be periodically assigned, which are due one week from the day they are assigned. Late homeworks will not be accepted and solutions to the homeworks will be discussed in class.

Project:

The student selects a project topic by the end of the fourth week in consultation with the instructor. The problem could be related to the student's thesis/dissertation topic. A final project report at the end of the term is also required which will include a detailed literature review of Identification techniques attempted on the problem in question.

Software:

The course will require extensive use of computer simulation, and Matlab and MAPLE are highly recommended. You should be familiar with these tools.

Grading:

Homework 30%; Project 50%; Examination 20%

References:

Mohler R. R., Nonlinear Systems: Volume 1 Dynamics and Control, Prentice-Hall, Englewood Cliffs, New Jersey, First Edition, 1991.
Khalil, Hassan K., Nonlinear Systems , Prentice-Hall, 1996
Friedland, Bernard, Advanced Control System Design, Prentice-Hall, 1996
Marquez, Horacio J., Nonlinear Control Systems , Wiley, 2003
AIAA Journal of Guidance, Control and Dynamics
ASME Journal for Dynamic Systems, Measurement and Control
International Journal of Control

Important Dates