Course text

Seyedtabaii, Lecture notes,  For Mobile use:   Nonlinear control​  1401/09​​ For printing:  Nonlinear control 2​       

References

1-H. K. Khalil. Nonlinear Systems, 3rd Edition. Prentice-Hall, 2002.   Nonlinear system

2-J.J. Slotine and W. Li,, Applied Nonlinear Control, Prentice Hall, 1991.

Evaluation

 1–Midterm test: 8                   NonlinearMP89.pdf              NonlinearMp90.pdf

2- Final test: 10             NonlinearFp93.pdf       NonlinearFP94.pdf     sample

*One page of hand written equation note is permitted for the tests​

3- Assignments : 2 (7*0.3)            0 NonlinearAassign.pdf

4. simulation of a nonlinear control subject in the form a Conf. paper 2.  It is required for marks above 17.5 . 

Course Schedule

Introduction

1-1 Nonlinear system introduction

1-2 Nonlinear system modeling, components and simulation (Chap 1)  Simple simulation Matlabch1_1simplesimcode.m   

Nonlinear system analysis

• 2nd order system analysis(PP) (Chap 2)

2-1 1^st and 2^nd order linear system PP analysis. Stability of equilibrium point.     

2-2 1^st and 2^nd order nonlinear system PP. PP drawing (Analytical, isoclines)- Multiple equilibrium points

3-1 2^nd order system limit cycle and bifurcation. (Assignment 1)

• Differential equation (Chap 3)

3-2 Nonlinear Differential equation characteristics

• General method of system analysis: Lyapunov (Chap 4)

4-1 Autonomous system Lyapunov stability  (Assignment 2)

4-2 Invariant set  – Linear and liberalized system Lyapunov stability

5-1 Non-autonomous system  Lyapunov stability-  Comparison function (Assignment 3) 

5-2 Converse theorem – Time variant linear system Lyapunov stability

• System analysis and control : L approach (Chap 5)

6-1 System gain ​

6-2 System responce bound

System analysis and control: Passivity approach (Chap 6)

7-1 Passivity 1

7-2 Review     (Assignment  4)​

8-1 Passivity 2

8-2   Mid term test

Linear system control: Circle method (Chap 7)

9-1  Absolute stability

9-2 Oscillation  (Describing Function)

Controller design (Chap. 12, 13 and 14)

  10-1 ​Linear control of systems

10- 2 Linear Gain Scheduling control 

 11-1 Feedback Linearization

11-2  Full state feedback linearization 

 12-1 Back stepping

12-2 Sliding mode  control   (Assignment 6)

 13-1 SMC

 13-2 Robust observer

​14-1 Review     (Assignment 7)      (Assignment 8)

Supplementary and Web resources

1. MATLAB code for nonlinear system simulationa_ship_m.m 
2. Simulink program for nonlinear system simulation  a_ship_s.slx
3. Simulink program for UAV altitude control  a_UAV_Alt_cntrl.slx
4. UAV flight simulation    Equations  UAV flight equations.pdf  
5. Phase portrait drawing program    ch2_pptool.m ​
6. Discrete or continuous system simulation note   Ch1noteonsimulation.pdf
7. A MATLAB nonlinear TOOLBOX          Nonlinear TOOLBOX 
8. ODE45 tutorial from Brown university  ODE45tutorial.pdf
9. High ranking control journals: ​​Automatica (Elsevier), IET Control Theory & Applications,  Systems & Control Letters (Elsevier) , IEEE Automatic Control, International journal of Control (Taylor & Francis ) , International Journal of Robust and Nonlinear Control (Wiley), International Journal of Bifurcation and Chaos (World scientific), Journal of Guidance, Control, and Dynamics  (AIAA)​ , Asian journal of control