• Last updated:
  
• 04/20/04. FISP presentation slides posted. Enjoy.
  
• 04/08/04. Project requirement/report format posted. VSC notes/references PDF file posted.
• 4/12/04. Petar Kokotovic (IFAC 1999 World Congrass plenary lecture: Constructive Nonlinear Control and 1992 Bode Lecture: The joy of feedback control - nonlinear and adaptive)
• 4/12/04. CLF (Control Lyapunov Function) - new ideas from an old source. R. A. Freeman and J. A. Primbs.
  
• Announcements
• No assignment for Week-1. (1/9/04) 
• W-01 (hw01.txt , pptool.m , pptool.pdf ) 
• W-02 (LaTeX - hw02.tex , hw02.dvi , hw02.PDF ) 
• No class on Wed. 1/28 - shifted to Friday 1/30, 1:30-2:45PM @ EL112.
  
• W-03 (hw03.txt ) Lyapunov Direct Method
• W-05 (hw04.txt ) UAS and MRAC
  
• W-07 (hw05.txt ) Chapter 4 (continued)
  
• W-08 (hw06.txt ) Chapter 4 (continued) Due: March 5.
  
• W-09 (hw07.txt ) Chapter 5. (I/O Stability) Due: March 15.
• Mid-term Exam. (PDF ) 
• FISP Requirement ( PDF , .tex )
• W-10 Spring Break.
  
• W-11 Break for Mid-term Exam
  
• W-12 (hw08.txt ) Chapter-6 (Passivity) and Chapter-7 (Freq. Domain Analysis of Nonlinear Systems)
• Software: Nonlinear Stability Analysis Toolbox by J. Taylor . stability_tools.zip file (137kB)  Tutorial Guide for the ``newnyq'', ``popov'' and ``circle'' routines for stability analysis is available separately here.
• W-13 (hw09.txt ) Chapters 12 (Feedback Control) and 13 (Feedback Linearization) Due: April 23, 2004.
• W-14 (hw10.pdf , hw10.tex ) Adaptive friction compensation. Due: April 23, 2004.
• Course Syllabus ( doc , pdf , html ). The USU official listing is here .
• Extra Notes:
• Week-5: 
• Nonidentifier based adaptive control (universal adaptive stabilization, lambda tracking)
• Prof. Dr. Achim Ilchmann "Non-identifier-based adaptive control of dynamical systems: a survey"; IMA J. of Math. Control and Inf. 8 (1991) 321-366.
  
• Week-6:
  
• Linear Adaptive Control - a nice free book : Adaptive Control: Stability, Convergence, and Robustness by: Shankar Sastry and Marc Bodson  Prentice-Hall Advanced Reference Series (Engineering)  © Prentice-Hall, 1989-1994 (ISBN 0-13-004326-5)  © Sastry & Bodson, 1994. 
• Lecture Notes on Linear Adaptive Control Systems ( - based on K. J. Astrom's book, 188 slides, 485Kb) (the first 37 slides will be covered - MRAC)
• Week-15:
• VSC-notes-references (PDF)
• Backstepping/adaptive nonlinear control (Note. Control Handbook)
  
• Week-16 (Monday only, last class)
  
• FISP presentations
  
• FISP (Focused Independent Study and Presentation)
• Requirement (PDF , .tex )
• You need to pick up a topic and get the approval from the Instructor by March 31, 2004.
• You need to focus on the chosen topic and give a lecture-type presentation (20min. plus Q/A session). An illustrative example is required.
• Presentation slides and references (4/19/04)
• Lili Ma. ( Invited speaker) "Nonlinear observers for perspective dynamic systems" (Slides.PDF )
  
• Hyosung Ang. " Study of the periodic time-varying nonlinear iterative learning control " (Slides PPT , the referenced paper )
• Ron Fenton. "A De-coupled Sliding Mode Controller and Observer for Satellite Attitude Control ". (Slide PPT , the referenced paper )
• Jeff Henry. "Controlling Chaos using a Passive Approach". ( writeup.PDF , the referenced paper )
  
• Dan Stormont. "A Comparison of Two Magnetic Coil Control Systems for a Small Satellite". ( PDF slides ) (referenced paper-1 and paper-2)
  
• Lab (This is a newly added course requirement)
• Lab Requirement (doc, pdf).
  
• Requirements: The minimum requirement is to include nonlinearity in your system model/analysis/design (MAD).
  
• Please read "Design Project Report Guidelines" .
• Mechatronics Control Kit Model M-1. Product Web, also at Quanser's web , the product specs ,  
• The Mechatronics Control Kit Product CD (local copy), User’s Manual. (local copy, also WORD DOC )   Extras: Documents at Quanser site: Reaction Wheel notes and experiments and some movies: Furuta inverted pendulum , pendubot , Iner , Motor , PenMid  
• Do read this report on " The Reaction Wheel Pendulum " by K J Astrom et al. (Please check Astrom's nice talk on "Control - the hidden technology " (PPT ))
  
• CTMS ( Control Tutorial for Matlab and Simulink )
• Weekly Readings
• x.y  (week-x and article-y). Click here and read. ("sufficient condition")
• Link to Advanced Nonlinear Control (E209B) , Spring 2004 http://www.stanford.edu/class/engr209b/ by Claire J. Tomlin of  Stanford University.
• Link to Analysis and Control of Nonlinear Systems (E209A) , Winter 2004. by Claire J. Tomlin of  Stanford University.
• 4/12/04. Petar Kokotovic ( IFAC 1999 World Congrass plenary lecture: Constructive Nonlinear Control and 1992 Bode Lecture: The joy of feedback control - nonlinear and adaptive )
• Important Links
• Prof. Qian, Chunjiang     NSF CAREER 2003 award on nonlinear control. Title: Utilizing Nonlinearity---Leverage to Global Synthesis of Inherently Nonlinear System

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Created 12/29/2003. Last updated: 4/20/2004, by Dr YangQuan Chen