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Chapter 2

This document outlines an advanced control theory lecture given by Dr. Van-Phong Vu. It provides information about the instructor, rules for the class, assessment details, and an overview of course contents. The course will cover nonlinear control systems including Lyapunov theory and sliding mode control, optimal control using LQR and LQG, and robust control with H-infinity. Chapter 2 focuses on nonlinear systems, defining them, describing their characteristics, and covering Lyapunov stability analysis and sliding mode control techniques.

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dtran2354
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29 views

Chapter 2

This document outlines an advanced control theory lecture given by Dr. Van-Phong Vu. It provides information about the instructor, rules for the class, assessment details, and an overview of course contents. The course will cover nonlinear control systems including Lyapunov theory and sliding mode control, optimal control using LQR and LQG, and robust control with H-infinity. Chapter 2 focuses on nonlinear systems, defining them, describing their characteristics, and covering Lyapunov stability analysis and sliding mode control techniques.

Uploaded by

dtran2354
Copyright
© © All Rights Reserved
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Advance Control

Theory
Lecturer: VU VAN PHONG

Dr. Van-Phong Vu-Department of Automatic Control


 Instructor: Dr. Vu Van Phong
 Email: [email protected]
 Phone: 0981479507
 Websites: https://phongvuac.wixsite.com/vuphong/

Dr. Van-Phong Vu-Department of Automatic Control


Rules in Class

 Attend at least 80% of class hours


 Complete all homeworks and assignments (If any)

Dr. Van-Phong Vu-Department of Automatic Control


Assessment

 Assignment (50%)
 One assignment/homework. (20%)
 One midterm test (20%)
 Attendance (10%)
 Final Project (50%)
 Student have to complete a small project and present in the class.

Dr. Van-Phong Vu-Department of Automatic Control


Contents of This course
 Chapter 1: Introduction
 Chapter 2: Nonlinear control system
 2.1 Nonlinear system
 2.2 Lyapunov Theory
 2.3 Sliding mode control
 Chapter 3: Optimal Control
 3.1 LQR Controller
 3.2 Kalman filter
 3.3 LQG controller
 Chapter 4: Robust Control
 4.1 H-infinite controller

Dr. Van-Phong Vu-Department of Automatic Control


Chapter 2: Nonlinear System

Dr. Van-Phong Vu-Department of Automatic Control


Contents of Chapter 2

 2.1 Introduction of nonlinear system


 2.2 Lyapunov Function
 2.3 Sliding Mode Control

Dr. Van-Phong Vu-Department of Automatic Control


2.1 Nonlinear System

 Definition:

Dr. Van-Phong Vu-Department of Automatic Control


2.1 Nonlinear System

 Characteristics:

Dr. Van-Phong Vu-Department of Automatic Control


2.1 Nonlinear System

 Characteristics:

Dr. Van-Phong Vu-Department of Automatic Control


2.1 Nonlinear System

 Describe the nonlinear system:

Dr. Van-Phong Vu-Department of Automatic Control


2.1 Nonlinear System

 Characteristics:

Dr. Van-Phong Vu-Department of Automatic Control


2.1 Nonlinear System

 Characteristics:

Dr. Van-Phong Vu-Department of Automatic Control


2.1 Nonlinear System

 Characteristics:

Dr. Van-Phong Vu-Department of Automatic Control


2.1 Nonlinear System

 Characteristics:

Dr. Van-Phong Vu-Department of Automatic Control


2.1 Nonlinear System

 Characteristics:

Dr. Van-Phong Vu-Department of Automatic Control


Aleksandr Mikhailovich Lyapunov (1857-1918)

Doctoral thesis : The general problem of the stability of motion,University of


Moscow,12 October 1892
Academician of Russian Academy of Sciences in St Petersburg (1901)
French Academy of Sciences (1916)
2.2 Lyapunov
 Characteristics:

Dr. Van-Phong Vu-Department of Automatic Control


2.2 Lyapunov
 Điểm cân bằng:

Dr. Van-Phong Vu-Department of Automatic Control


2.2 Lyapunov
 Characteristics:

Dr. Van-Phong Vu-Department of Automatic Control


2.2 Lyapunov
 Characteristics:

Dr. Van-Phong Vu-Department of Automatic Control


2.2 Lyapunov

Dr. Van-Phong Vu-Department of Automatic Control


2.2 Lyapunov

Dr. Van-Phong Vu-Department of Automatic Control


Thank You For Your Listening

Dr. Van-Phong Vu-Department of Automatic Control

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