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Villanova University Department of Mechanical Engineering: EGR 8304: Nonlinear Control

This document provides information about the EGR 8304 Nonlinear Control course offered in the Spring 2019 semester at Villanova University. The course objectives are to provide students with an advanced treatment of nonlinear systems and control theory, and equip them with the ability to analyze nonlinear system stability, determine stability in the presence of uncertainties, and design nonlinear controllers. Topics covered include fundamental nonlinear dynamics, stability theory, input-output stability, advanced stability concepts, and nonlinear control methods. Assignments include homework, projects, a term project, and midterm and final exams.

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75 views

Villanova University Department of Mechanical Engineering: EGR 8304: Nonlinear Control

This document provides information about the EGR 8304 Nonlinear Control course offered in the Spring 2019 semester at Villanova University. The course objectives are to provide students with an advanced treatment of nonlinear systems and control theory, and equip them with the ability to analyze nonlinear system stability, determine stability in the presence of uncertainties, and design nonlinear controllers. Topics covered include fundamental nonlinear dynamics, stability theory, input-output stability, advanced stability concepts, and nonlinear control methods. Assignments include homework, projects, a term project, and midterm and final exams.

Uploaded by

juan carlos
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Villanova University

Department of Mechanical Engineering

EGR 8304: Nonlinear Control

Semester: Spring 2019


Instructor: H. Ashrafiuon
Office: Tolentine 111B
Email: [email protected]
Phone: 610-519-7791

Office Hours: Mondays 1:30 – 3:30 pm; Wednesdays 3:00 – 5:00 pm; or by appointment

Course Objective: To provide students with an advanced treatment of nonlinear systems and
control theory with applications.

Course Learning Outcomes:

After the successful completion of the course, a student should have


attained the necessary knowledge and skills to 1. Analyze nonlinear
systems stability, 2. Determine system stability in the presence of
uncertainties, 3. Design nonlinear controllers to ensure robust stability of
the closed-loop system.

Prerequisites: Linear algebra, Classical control theory, linear systems, and state space
Models, MATLAB/Simulink programming

Textbook: H.K. Khalil, Nonlinear Systems, Third Edition, Prentice Hall, 2002.

Tentative Course Assignments/Grading:

• 10 Homework/Projects 25% of grade


• 1 Term Project 25% of grade
• 1 Midterm Exam 25% of grade
• 1 Final Exam 25% of grade

1
Topics

Fundamental Properties of Dynamical Systems


• Nonlinear Models and Nonlinear Phenomena
• System Equilibria
• Nonlinear Differential Equations
• Existence and Uniqueness of Solutions
• Continuous Dependence on System Initial Conditions and Parameters
• Continuity, Uniform Continuity, and Lipschitz Continuity

Nonlinear Second-Order Dynamical Systems


• Nodes, Saddles, Foci, and Centers
• Periodic Orbits and Limit Cycles
• Bifurcation
• Poincare, Bendixon, and Poincare-Bendixon Theorems

Stability Theory for Nonlinear Dynamical Systems


• Invariance Principal
• Lyapunov Stability, Asymptotic Stability, Exponential Stability
• Lyapunov Stability Theorems
• Lyapunov Function Constructions
• Domain of Attraction
• Stability of Linear Systems and Lyapunov’s Linearization Method
• Converse Theorems
• Input-to-State Stability

Input-Output Stability
• L Stability
• Small Gain Theorem

Advanced Stability Theory for Nonlinear Dynamical Systems


• Invariance-like Theorems
• Center Manifold Theorem
• Poincare Maps and Stability of Periodic Orbits

Nonlinear Control
• Linearization and Gain Scheduling
• Feedback Linearization-Based Control Approaches
• Sliding Mode Control
• Backstepping Control

Passivity
• Positive Real Transfer Functions
• L2 and Lyapunov Stability
• Passivity Theorems
• Passivity-Based Control

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