Course Syllabus

ECE/MAE 6330 - Nonlinear and Adaptive Control

Spring 2004

Instructor:

YangQuan Chen, Assistant Professor,

Center for Self-Organizing and Intelligent Systems

Department of Electrical and Computer Engineering, Utah State University

Office EL 152. T: (435)797-0148, F: (435)797-3054

E: yqchen@ece.usu.edu, W: www.csois.usu.edu/people/yqchen

Course Web:

http://mechatronics.ece.usu.edu/ece6330/

Lecture Time/Place:

MW 1:30 – 2:45pm. EL112 (Controls Lab)

Office Hours:

MW 2:45 PM to 17:00 PM or by appointment.

Try to formulate your question in written form first (your question may no longer be a question during your writeup!)

http://www.usu.edu/registrar/schedules/spring2004/courses-37.html

Course number:  12636. Section 1.

Textbook:

Hassan K. Khalil, Nonlinear Systems, Third Edition, Prentice Hall, 2002.

Reference Textbooks:

· William S. Levine (Editor), The Control Handbook (Electrical Engineering Handbook Series), CRC Press, March 1996 (1566 pages!)

· M. Vidyasagar, Nonlinear Systems Analysis, 2nd Ed., Prentice Hall, 1993.

· A. Isidori, Nonlinear Control Systems, 3rd Edition, Springer, 1995.

· S. Sastry and M. Bodson, Adaptive Control: Stability, Convergence, and Robustness, Prentice-Hall, Englewood Cliffs, NJ, 1989. (Online available here:

http://www.elen.utah.edu/~bodson/acscr.html)

Prerequisites:

· Undergraduate control systems (ECE4310) and

· Graduate linear multivariable (ECE/MAE6320) systems.

Course Requirements:

· Homework - 60 points

· Midterm Exam - 20 points

· Focus Independent Study Project -10 points

· Comprehensive Laboratory on Mechatronics Kit – 10 points.

· There is no Final Exam.

Notes:

· The course will follow the outline below.

· The course will cover material from almost every chapter of the text as well as some material taken from the instructor's notes.

· Homework will be assigned approximately weekly and will be due one week later.

· The midterm will be a take home exam covering basic course concepts.

· There is no final exam. Instead, a FISP (focused independent study project) will be assigned to each student with different topics. This FISP includes a survey report on the chosen specific topic and a case study via simulation of nonlinear system analysis and/or controller design. The topics can be proposed by the students upon instructor’s approval.

· Computer simulations will be necessary for some homework problems.

· Matlab/Simulink is the preferred computing environment for these simulations.

· A lab is designed for every student to further strength the nonlinear control design and analysis methods. This lab is based on the Mechatronics Control Kit Model M-1. See the following web directory for details of M-1: http://mechatronics.ece.usu.edu/2003/lab/manuals/Mechkit_CD_2.10/

Course Description:

This course presents a comprehensive exposition of the theory of nonlinear dynamical systems and its control. It will focus on (1) methods of characterizing and understanding the behavior of systems that can be described by nonlinear ordinary differential equations, and (2) methods for designing controllers for such systems. In the design part, we will focus on the nonlinear robust adaptive control. Both classical and modern concepts from nonlinear system theory will be introduced.

Outline of Topics:

Introduction Chapter 1 and Notes

Motivation, Notation, Nonlinear System Behavior

Modelling

Qualitative Behavior of Nonlinear Systems Chapter 2

Phase Plane for 2^nd-order systems, Linear Systems

Essential Mathematics: Normed Vector Spaces Notes

Nonlinear Differential Equations Chap. 3

Analysis

Lyapunov Theory

Definitions (Stability and Functions) Chap. 4.1,

Direct Method Chap. 4.3,

Invariant Set Theory Chap. 4.2, Notes

Linearization Chap. 4.6,

Center Manifold Theorem Notes, Chap. 8.1

Finding Lyapunov Functions Notes

Input-Output Stability Chap. 5

Lp-spaces, Lp-stability

Aside: Norms for Linear Systems

Lp-stability of State Models

Lyapunov Stability of I/O Models

L2-Gain,

Analysis of Feedback Systems Chap. 6, Notes

Small Gain Theorem Chap. 6.1, 6.2

Passivity Approach to Stability Chap. 6.5

Passivity of Linear Systems, PR Lemma. Chap. 6.3

Absolute Stability Chap. 7.1

Describing Function Analysis Chapter 7.2

Design

Integral control and gain scheduling Chapter 12

Feedback Linearization Technique Chapter 13

Sliding Mode Chapter 14.1

Lyapunov-Based (re)Design and Backstepping technique Chap. 14.2, 14.3

Robust Adaptive Control - Notes

Nonlinear Observer Designs - Notes

 
Spring Semester 2004
 
January 5.................Classes Begin
January 19................Holiday (Human Rights Day)
February 16...............Holiday (Presidents' Day)
March 8-12................Spring Break (No Classes)
April 20..................Last Day of Classes
April 21..................Interim Day
April 22-28...............Final Examinations
April 28-30...............Close Out
April 30 - May 1..........Graduation