Nonlinear Control Systems (EE 60580)

University of Notre Dame


Description: This course studies the analysis and design of nonlinear feedback control systems using Lyapunov stability, input-output stability, and passivity concepts. Lecture topics are listed below.
Lectures:
  1. 8/27/09-9/1/09 Real Analysis Concepts
  2. 9/3/09 Functions of a Real Variable
  3. 9/8/09-9/10/09 ODE Solutions
  4. 9/10/09-9/17/09 Lyapunov Methods - Autonomous Systems
  5. 9/20/09-9/25/09 Lyapunov Method - Advanced Theorems
  6. 9/28/09-10/02/09 Lyapunov Methods - nonAutonomous - Perturbations
  7. 10/5/09/-10/15/09 Control Lyapunov Functions - Input-to-State Stability - (CLF References)
  8. 10/9/09-11/10/09 Feedback Linearization - Normal Form - Zero Dynamics
  9. Input/Output Stability - Small Gain Theorem
  10. Passivity and Feedback Passivation
  11. Constructive Nonlinear Control
Homework/Projects
  1. Real Analysis Homework (assigned 8/27/09 - due 9/3/09) (solution)
  2. Functions Homework (assigned 9/3/09 - due 9/10/09) (solution)
  3. ODE solutions (assigned 9/10/09 - due 9/17/09) (solution)
  4. Lyapunov Methods - autonomous systems (assigned 9/17/08 - due 9/29/09) (solution)
  5. Lyapunov Method - advanced theorems (assigned 9/29/09 - due 10/8/09) (solution)
  6. Lyapunov Methods - nonAutonomous (assigned 10/8/09 - due 10/27/09) (solution)
  7. Project Homepage (assigned 10/8/09 - due 12/10/09)
Grading: 25% homework, 25% weekly essays, 25% final paper, 25% presentation
Instructor: Michael Lemmon, Dept. of Electrical Engineering, University of Notre Dame (lemmon at nd dot edu)
Textbooks:

  1. H.K. Khalil, Nonlinear Systems, 3rd Edition, 2002, Prentice-Hall required
  2. R. Sepulchre, M. Jankovic, and P.V. Kokotovic, Constructive Nonlinear Control, Springer London/New York, 1997, required
  3. A. Van der Schaft, L2-Gain and Passivity Techniques in Nonlinear Control, 2000, Springer-Verlag
  4. A. Isidori, Nonlinear Control Systems, 3rd Edition, 1995, Springer-Verlag
  5. A. Isidori, Nonlinear Control Systems II, 1999, Springer-Verlag
  6. S. Wiggins, Introduction to Applied Nonlinear Dynamical Systems and Chaos, 1990, Springer-Verlag

Reading list of Papers