About this course:

  • Course Name: Applied Nonlinear Control
  • Course Code: ME 698
  • L-T-P-C : 3-0-0-6
  • Syllabus: Download
  • Course Type: Department Open Elective


    • Applied Nonlinear Control

    Description:

    The topic of control systems is an integral part of the functioning of many systems which tend to take feedback from the environment when functioning. Nonlinear control has been spurred on in the past few decades due to the availability of low-cost microprocessors. This domain involves applications in multiple engineering disciplines including mechanical, electrical, and aerospace, amongst others. This course is intended to provide an introduction to important topics in nonlinear control and is primarily meant for postgraduate or doctoral students as well as to serve as an advanced topic for undergraduate students.

    Course Content/ Syllabus

    Overview of feedback control, analysis and design of control systems in state space. Phase-plane Analysis, Lyapunov theory of stability. Advanced Topics in stability: Stability of non-autonomous systems, Barbalat’s lemma, Positive Linear Systems, Passivity formalism, absolute stability, boundedness of signals, existence and unicity of solutions. Describing functions and analysis of nonlinear systems. Feedback Linearization and related mathematical tools. Adaptive Control.

    Application case studies in control of robots, control of cart-pendulum systems, control of active magnetic bearings and UAV control.

    Texts:

    1. J.J. E. Slotine and W. Li, Applied Nonlinear Control, International Edition, Prentice Hall, 2005.
    2. H.K. Khalil, Nonlinear Systems, 3rd Edition, Prentice Hall, 2002.

    References

    1. H.K. Khalil, Nonlinear Control, Global Edition, Pearson, 2015.
    2. M. Vidyasagar, Nonlinear Systems Analysis, 2nd Edition, Prentice Hall, 2002.
    3. K. Ogata, Modern Control Engineering, 5th edition, Prentice Hall 2014.