Advanced Non-Linear Systems Analysis

3 cr · Graduate

Topics may include (i) Modelling of Constrained Dynamic Systems, including derivation of dynamic equations for constrained systems using Lagrangian equations and/or Newton-Euler equations; (ii) Advanced Stability Theories, including construction of Lyapunov functions and Lyapunov's stability control; and (iii) Introduction to Analysis of Non-smooth Systems, including Filippov's solution analysis and extended Lyapunov's stability theory to non-smooth systems. Applications to computer modelling of bipedal locomotion, analysis of robotic contact tasks and stability analysis of power systems will be addressed.