Time and Place: T, R 8:00 PM to 9:20 PM classroom in
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
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
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
are highly recommended.
You should be familiar with these tools.
Grading: Homework 30%; Project 50%; Examination
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
- Aug. 31 Classes begin
- Sept. 4 Last day to drop course without financial liability
- Sept. 11 Last day to drop course without "R" grade.
- Sept. 12 - Nov. 13 Can resign course with an "R" grade.
- Nov. 25 - Nov. 28 Fall Recess
- Dec. 11 Last day of classes
- Dec. 12-Dec. 13 Reading Days
- Dec. 14 - Dec. 22 Final Exams