ECE 1648 -- Nonlinear Control System Design

Course Description

Course presents methods used to design controllers for systems described by nonlinear ordinary differential equations. Topics include: controllability and observability for nonlinear systems; static and dynamic state-feedback linearization; input-output linearization and zero dynamics; gain-scheduling; adaptive feedback linearization and other methods to improve robustness with respect to unmodeled dynamics; backstepping; adaptive backstepping; inverse optimal methods; passivity-based methods; and forwarding. Note that ECE1647 is a prerequisite.

References...

M. Krstic, I. Kanellakopoulos, P. Kokotovic, Nonlinear and Adaptive Control Design, , 1995. (This is available for short-term loan at The Engineering Library).
Alberto Isidori, Nonlinear Control Systems, Springer-Verlag, 1989. (The 1989 edition is available for short-term loan at The Engineering Library. The 1995 edition is at Gerstein Library.)
R. Sepulchre, M. Jankovic and P. Kokotovic, Constructive Nonlinear Control, Springer, 1997, (This is available for short-term loan at Gerstein Library).
Various papers from the literature.

Schedule...

Offered Spring 1999. Meets Mondays, 1pm - 3pm, in GB404.

Homework Assignments...

Mark Allotment...

50% Homework. Homework problems are assigned in each class. Problems are due the following week. You can resubmit problems done incorrectly for full credit.
50% Final Project, which will involve the design, implementation, simulation of several nonlinear controllers for a real nonlinear system.

bortoff@control.toronto.edu