Course Details

Subject {L-T-P / C} : EE6303 : Nonlinear Control {3-0-0 / 3}
Subject Nature : Theory
Coordinator : Prof. Bidyadhar Subudhi

Syllabus

Examples of nonlinearities in a system Phase plane analysis: Construction, Pendulum example, Linearization techniques Stability: Equilibrium point and Lyapunov analysis, Krasovskii’s and variable gradient method, Invariant set theory, Barbalat’s Lemma, Positive Realness, Passivity theory, Popov criterion, Describing function Feedback Linearization: Input-State linearization, input-output linearization Sliding Mode Control: Sliding surface and trajectory, modified switching.

Course Objectives

  1. To learn about the characteristics of nonlinear systems
  2. To learn about stability theory for nonlinear systems
  3. To learn about designing nonlinear controllers such as Feedback Linearlization controller, sliding mode controller, and backstepping controller
  4. To design nonlinear controllers for different real-world systems

Course Outcomes

? CO1: Learn properties of nonlinear behavior and nonlinear controlled systems.
? CO2: Learn a variety of methods for analyzing the structure and behavior of nonlinear feedback systems.
? CO3: Learn basic design techniques including feedback linearization, feedback passivation, Lyapunov design, backstepping
? CO4: Learn how to analyze the stability and performance properties of nonlinear systems, and also how to design nonlinear feedback controllers.
? CO5: Understand phase-plane analysis, equilibrium Points, invariant set theorem, Lyapnov stability, input-output stability, describing function method.

Essential Reading

  1. H. K. Khalil, Nonlinear Systems, Prentice Hall, 3rd ed., 2002
  2. J. J. E. Slotine and W. Li, Applied Nonlinear Control, Prentice Hall, 1991

Supplementary Reading

  1. Nijemjer and A. van der schaft, Nonlinear dynamical control systems, Springer, 1989
  2. M. Vidyasagar, Nonlinear Systems Analysis, Society for Industrial and Applied Mathematics, 2002.