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The participants acquire knowledge on basic nonlinear control methods. This includes modeling and analysis of plant dynamics as well as controller synthesis. In computer exercises, which represent an integral part of the course, these methods are applied to diverse application examples using standard software tools.

• Linear and Nonlinear Phase Plane Analysis
• Description and Properties of Nonlinear Systems
• Stability Analysis / Lyapunov Methods (direct and indirect)
• Gain Scheduling
• Exact Linearization and System Inversion
• Sliding Mode Control
• Backstepping
• Nonlinear Observers
• Computer Exercises with MATLAB/Simulink

Literature:

[1] Glad, T., Ljung, L.: Control Theory: Multivariable and Nonlinear Methods, Taylor & Francis, 2000

[2] Marquez, H. J.: Nonlinear Control Systems, Analysis and Design, Wiley-Interscience, 2003.

[3] Friedland, B.: Advanced Control System Design, Prentice Hall, 1996.

[4] Khalil, H. K.: Nonlinear Systems, Prentice-Hall, 2002.

[5] Isidori, A.: Nonlinear Control Systems, Springer, 1995.

[6] Slotine, J.-J. E., Li, W.: Applied Nonlinear Control, Prentice Hall, 1991.

[7] Adamy, J.: Nonlinear Systems and Controls, Springer Vieweg, 2022.

Tuesday 12:00 - 14:00  Room: E-N 223 (lecture, exercise)
Thursday 10:00 -12:00  Room: E 020 (lecture, exercise)

Computer exercises in EN 656 (will be announced) 

Written exam of 90 minutes