525.763 - Applied Nonlinear Systems Course Homepage
Instructor Information
Hollis Ambrose
Email: hollis.ambrose@jhuapl.eduWork Phone: (443) 778-4098
Course Information
Course Description
Introduction to nonlinear systems. Differences between linear and nonlinear systems. Mathematical preliminaries. Equilibrium points of nonlinear systems. Phase plane analysis and limit cycles. Stability definitions for nonlinear systems. Lyapunov's indirect and direct methods. Stability of autonomous and non-autonomous systems. Describing function analysis. Nonlinear control design including sliding-mode, adaptvie and nonlinear robust control. Applications of nonlinear control design.
Prerequisites
525.409 Continuous Control Systems or equivalent.
Course Goal
The goals of the course are two fold.
The first major goal is to introduce the student to nonlinear systems and to classify them for further analysis. Also, issues of stability are discussed with respect to nonlinear systems and the various forms of stability are discussed.
The second major goal is to introduce the student to nonlinear controls techniques, up to and including adapative, sliding-mode and nonlinear robust control.
Course Objectives
- By the end of the course, tudents should be able to:
Understand issues related to nonlinear systems and why linear techniques to analyze stability may not be sufficient. - Understand controls design techniques involving feedback linearization and input-state linearization.
- Understand Lyapunov stability analysis and design which will allow the student to apply the techniques and also understand technical papers and articles on the subject.
When This Course is Typically Offered
This course is typically offered every other fall at the Dorsey Center.
Syllabus
Topics Covered
- Mathematical Background
- Phase Plane Analysis
- Lyapunov Theory
- Control Design Based on Lyapunov's Direct Method
- Advanced Stability Theory
- Stability of Non-Autonomous Systems
- Describing Function Analysis
- Feedback Linearization
- Input-State Linearization of SISO Systems
- Input-Output Linearization of SISO Systems
- Sliding-Mode Control
- Adaptive Control
- Nonlinear Robust Control
- Control of Physical Systems
Student Assessment Criteria
| Example: Homework (8 assignments) | 30% |
| Example: Mid-term Exam | 30% |
| Example: Final Exam | 40% |
Late homework will not be accepted without the prior premissoion of the instructor. Students are allowed to collaborate on homework, but must then go off to complete the assignment on their own. Simulink and Matlab are acceptable tools to use to complete assignments.
Computer and Technical Requirements
Matlab and Simulink:
You will be using Matlab and Simulink to complete some of your homework assignments. As time permits, the instructor will go over Simulink to give the student an introduction on its use within the course.
Participation Expectations
This course will consist of 2 basic student requirements:
-
Homework - Each student is required to complete all homework assignments to earn a course grade. Homework assignments will be evaluated and graded on a scale of 0 to 100.
-
Examinations - A mid-term and a final will be given. Each will be graded on a scale of 0 to 100. Exact dates will be announced later during the semester.
Textbooks
Textbook information for this course is available online through the MBS Direct Virtual Bookstore.
Course Notes
There are notes for this course.
Final Words from the Instructor
A Sakai website will be set up for the course, the details of which will be explained during the first class. The course notes will be scanned and will be available at the website. Homework assignments and any Simulink simulations that are relevant to the course will also be made available to the student through the website.
(Last Modified: 08-11-2009 at 11:18:33 AM)