Analysis and Control of Nonlinear Systems

1 credits · Graduate

This course provides a basic introduction to nonlinear dynamical systems and their control. The first module begins with an overview of nonlinear system models,and types of behaviors that can only arise in nonlinear systems. The second module introduces Lyapunov stability theory and Lyapunov functions. The third module focuses on feedback control design for nonlinear systems, starting with back stepping as an example of Lyapunov-based feedback design to stabilize an operating point. The fourth module introduces feedback linearization for stabilization, then proceeds to sliding mode control for stabilization in the presence of model uncertainty. The course will illustrate all concepts with physically-motivated examples.