English

If sufficient demand

The goal of the course is to provide good knowledge and practice the ability to use classical as well as modern analysis and design methods for nonlinear control systems.

Lyapunov theory for autonomous and time-varying systems
- Small-gain theory
- Absolute stability
- Integral quadratic constraints
- Passivity
- Center manifold theorem
- Stability of periodic and perturbed systems
- Averaging, Singular perturbations, Geometric control theory
- Feedback linearization
- Nonlinear design tools (backstepping, high gain control)

know and understand simple and advanced methods for nonlinear control
know the strengths and limitations of state-of-the art nonlinear control theory

know how to identify and define nonlinear control problems
be able to use numerical software (e.g. Matlab) to solve advanced nonlinear control problems

understand how to match different theoretical tools to different practical problems
show ability for teamwork and group collaboration

Lectures

Exercises

Written exam

Failed, pass

PhD student engineering/maths - basic course in automatic control FRTF05

Familiarity with the contents from the masters level course: nonlinear control and servo systems FRTN05

Khalil, H. K.: Nonlinear Systems 3rd ed. Prentice Hall, 2002. ISBN 0130673897.

There are significant changes between the 2nd and 3rd addition, so be sure to obtain the 3rd edition if pursuing this course.

Previous incarnations of the course including all lecture material can be found here:

https://www.control.lth.se/education/doctorate-program/nonlinear-control-theory/nonlinear-control-theory-2017/

FRT026F

2021-09-07

Professor Thomas Johansson