ECE1647F Introduction to Nonlinear Systems (Last updated November 20, 2013)

GB434A

broucke (at) control.utoronto.ca

Lecture	Tuesday 3-4:30pm	Wallberg WB144	Begins Sept 10
	Thursday 12:30-2pm	Bahen BA3014

Self-contained course notes will be available on the Blackboard course webpage, accessed through the UofT WEB PORTAL.

Mathematical preliminaries
Introduction to dynamical systems
- Existence and uniqueness of solutions
- Limit sets and invariant sets
- Poincare-Bendixson theorem
- Stability of periodic orbits
- Stable manifold theorem
Stability theory
- Stability definitions
- Lyapunov theory
- LaSalle invariance principle
- Control design via Lyapunov functions
Centre manifold theory
- Application: formation control of multiple robots
Nonlinear regulator theory
- Regulator equations
- Nonlinear internal model principle

Grades will be based on the following components. The percentages are best estimates and may be updated.