Nonlinear Systems and Control

(3-0-0-3)

CMPE Degree: This course is Not Applicable for the CMPE degree.

EE Degree: This course is Not Applicable for the EE degree.

Lab Hours: 0 supervised lab hours and 0 unsupervised lab hours.

Technical Interest Group(s) / Course Type(s): Systems and Controls

Course Coordinator:

Prerequisites: ECE 6550

Catalog Description

Classical analysis techniques and stability theory for nonlinear systems.
Control design for nonlinear systems, including robotic systems. Design
projects.

Textbook(s)

Nonlinear Systems

Course Outcomes

Not Applicable

Strategic Performance Indicators (SPIs)

Not Applicable

Topical Outline

1. Nonlinear Systems Analysis
a. Phase Plane Analysis
b. Lyapunov Stability Analysis
c. Input-Output Stability Analysis
2. Linearization Based Design
a. Relative Degree
b. Normal Form
c. Zero Dynamics
d. Input-Output Linearization
e. Input-State Linearization
3. Lyapunov Based Design
a. Backstepping Control
b. Passivity Control
4. Applications in Robotics
a. Kinematic and Dynamic Modeling
b. Control Design