18/12/2014

Nonlinearcontrol

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NonlinearControl
Exam
TheexamwilltakeplaceonFriday,February6,2015at14:00
inroomV9.01.
Itwillbeawrittenexamandyouwillhave120minutesto
answerthequestions.
Theexamwillbeopenbook,thatisyoumaybringanynon
electronicdevicesandmaterialtotheexam.
Notallowedareforexample,butnotexclusively,cellphones
(evenifonlyusedfordisplayingthetime,thatis,donotbring
cellphonestotheexam),calculators,andelectronic
translators.
TheexamproblemswillbegiveninEnglish.Youmaywrite
youranswerseitherinEnglishorGerman.
Relevantfortheexamarealltopicscoveredinthelectureand
theexercises.
Datesfortheofficehoursregardingtheexamwillbepostedin
duetime.

Organization
Lecturer

Prof.Dr.Ing.FrankAllgwer
Dr.Ing.MathiasBrger
Dipl.Ing.GerdSchmidt

Teachingassistant Dipl.Ing.FlorianBrunner
Timeandplace(3V/1,6ECTS):
Wednesday 09.4511.15 V7.31
Thursday 09.4511.15 V57.05
ThecourseisgiveninEnglish.
AllthelecturematerialisavailableintheIliaslearning
managementsystem.Youfindthematerialunder:
repository>engineering>engineeringcybernetics>
http://www.ist.unistuttgart.de/education/courses/NonlinearControl/

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18/12/2014

Nonlinearcontrol

lehrveranstaltungenSS14>nonlinearcontrol
Thepasswordwillbeannouncedinthelecture.

Prerequisites
ThecourseisintendedforstudentshavingalreadyvisitedERT
andKRTorhaveequivalentknowledge.
Thiscoursecanbechosenwithinthearea"Systemtheorie"for
thestudyprogramEngineeringCybernetics.

Content:
Thislecturewillcovermodernanalysisandcontrollerdesign
methodsfornonlinearsystemsincluding
Mathematicalbasicsfornonlinearcontrol
Lyapunovstability
Lyapunovbasedcontrollerdesign
Inputoutputstability
Passivity
Dissipativity
Passivitybasedcontrol

Literature
H.K.Khalil,NonlinearSystems,PrenticeHall,2002.
PublisherLink
Errata
R.Sepulchre,ConstructiveNonlinearControl,Springer
Verlag,1997.Download

Courseschedule:
Colorcodeforexercises:easy,medium,difficult
Topic

Reference

Introduction:
Examplesofnonlinear
phenomena

Slides

Mathematicalfoundationsof
nonlinearcontrol

KhalilAppendixAandB
Exercises1.1,1.2,1.3,1.7

http://www.ist.unistuttgart.de/education/courses/NonlinearControl/

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18/12/2014

Nonlinearcontrol

Fundamentalpropertiesof
nonlinearsystems

Khalilchapter3.1
Exercises3.1,3.2,3.3,3.4,
3.5,3.19,3.20

Lyapunovstability

Khalilchapter4.14.3
Exercises4.2,4.3,4.4,4.8,
4.9,4.10,4.11,4.12,4.14,
4.15,4.16,4.17,4.26,4.29

Slidingmodecontrol

Khalilchapter14.1
Exercises14.1a,14.2,14.6,
14.12

Comparisonfunctions,
stabilityofnonautonomous
systems,conversetheorems

Khalilchapter4.4,4.5,4.7
Exercises4.34,4.35,4.37,
4.42,4.43,4.44,4.47,4.48

Inputtostatestability

Khalilchapter4.9
Exercises4.54,4.55,4.56,
4.58

Inputoutputstability

Khalilchapter5
Exercises5.15.55.125.13
5.165.18

ControlLyapunovfunctions

R.Sepulchre,Constructive
NonlinearControl,Chapter3.5
Examples3.42,3.45,3.46

Backstepping:Robust&
adaptivecontrol

Khalilchapter14.3
Exercises14.30,14.31,14.32,
14.33,14.34,14.38(a)

Passivity

KhalilChapter6
Exercises6.6,6.10,6.18,6.9

Passivitybasedcontrol

KhalilChapter14.4
Exercises14.42,14.43,14.57
SepulchreExamples2.48and
14.17,

Dissipativity&observer
design

KhalilChapter14.5

http://www.ist.unistuttgart.de/education/courses/NonlinearControl/

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