COURSE DESCRIPTION:

Behavior of nonlinear systems; Lyapunov characterization of stability and performances; quadratic and non-quadratic Lyapunov functions; Invariant set and stability region; Design via linearization; Exact feedback linearization; Numerical approaches to analysis and design; Description of uncertain, nonlinear and time-varying systems via linear differential inclusions; absolute stability;  LMI optimization technique for estimation of domain of attraction and L2 gain;  analysis and design of linear systems with actuator saturation; null controllable region; global and semi-global stabilization; Anti-windup compensation.

Computational aspect of analysis and design will be emphasized; Matlab/Simulink will be extensively used for system analysis, design and simulation.

COURSE OBJECTIVES:

To learn the most important and practical techniques for analysis and design of nonlinear systems. The students will understand the basic concepts of Lyapunov function and invariant set. The will learn how to use these concepts to analyze stability and performance of nonlinear systems. They will be equipped with numerical optimization tools for control design of uncertain nonlinear systems via linear differential inclusions. They will learn effective techniques for analysis and design of linear systems with actuator saturation.

GENERAL COURSE INFORMATION:

TEXTS: 

Recommended supplementary texts:  

H. K. Khalil. Nonlinear Systems, 3rd Edition. Prentice-Hall, 2002. The relevant Chapters are 1, 2, 4, 5, 7, 8, 12, 13

S. Boyd, L. El Ghaoui, E. Feron, and V. Balakrishnan, Linear Matrix Inequalities in System and Control Theory, SIAM, 1994

GRADING POLICY:

Homework:  50%

Project: 50%
 

CONTACTING THE INSTRUCTOR:

Tingshu Hu

Office:  Ball Hall 405

Office hours: Friday:  2:30-5.30pm; 

Phone: 934-4374, Fax: 934-3027,

Email: tingshu_hu@uml.edu, URL: http://faculty.uml.edu/thu/

Course website: http://faculty.uml.edu/thu/16.613