Mireille Broucke | GB434A | broucke (at) control.utoronto.ca |

Lecture | Tuesday 3-4:30pm | Wallberg WB144 | Begins Sept 10 |

Thursday 12:30-2pm | Bahen BA3014 |

- 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

Title | Issued | Due |
---|---|---|

Homework 1 | September 10 | October 1 |

Homework 2 | October 1 | October 15 |

Homework 3 | October 15 | October 29 |

Midterm | November 5 | In lecture |

Homework 4 | October 29 | November 19 |

Homework 5 | November 19 | December 17 |

Final Project | December 17 |

Homework | 40% |

Midterm | 35% |

Final Project | 25% |

- V.I. Arnold. Ordinary Differential Equations, MIT Press, 1973.
- H. Khalil. Nonlinear Systems, 3rd ed., Prentice Hall, 2002.
- A. Isidori. Nonlinear Control Systems, 3rd ed., Springer-Verlag, 1995.