- 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)
- 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 (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).
- 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
- Important Links
- Prof.
Qian, Chunjiang
NSF CAREER 2003 award on nonlinear control.
Title: Utilizing Nonlinearity---Leverage
to Global Synthesis of Inherently
Nonlinear System
Created 12/29/2003. Last updated: 4/20/2004, by
Dr YangQuan Chen