ECE1647F Introduction to Nonlinear Systems (Last updated September 17, 2019)

Teaching Staff

Prof. M.E. Broucke GB434A Instructor broucke at control.utoronto.ca
Ahmad Abdel Gawad GB348 TA ahmad dot abdelgawad at mail.utoronto.ca


Lecture Schedule

Lecture Section Day and Time Location Start Date
LEC 01 Mon 3-4:30pm BA4164 January 9
  Wed 3-4:30pm BA4164  


References

Course notes will be distributed to registered students. In addition the following references may be helpful.



Course Outline

Here is a nominal timetable of lecture topics. This schedule may be updated as the semester progresses.

Week Date Lecture Topics
1 Sept 9 1 Introduction: ODEs, vector fields, dynamical systems
  Sept 11 2 Mathematical preliminaries
2 Sept 16 3 Mathematical preliminaries
  Sept 18 4 Existence and uniqueness of solutions
3 Sept 23 5 Finite escape time, continuity w.r.t. ic's, comparison lemma
  Sept 25 6 Invariant sets, Nagumo theorem
4 Sept 30 7 Limit sets, Poincare-Bendixson theorem
  Oct 2 8 Linearization, Hartman-Grobman Theorem
5 Oct 7 9 Feedback linearization
  Oct 9 10 Feedback linearization
6 Oct 14 11 Thanksgiving
  Oct 16 12 Application: gait control of a walking robot
7 Oct 21 13 Application: gait control of a walking robot
  Oct 23 14 Lyapunov stability theory
8 Oct 28 15 Barbashin-Krasovksii Theorem, Converse theorems
  Oct 30 16 LaSalle Invariance Principle
9 Nov 4 17 Midterm Exam
  Nov 6 18 Stability of linear systems
10 Nov 11 19 Obstruction to continuous feedback stabilization
  Nov 13 20 Backstepping
11 Nov 18 21 Backstepping
  Nov 20 22 Adaptive control
12 Nov 25 23 Adaptive control
  Nov 27 24 TBA
13 Dec 2 25 TBA


Homework

Homework Chapter Problems Due Date
1 Appendix A A.13, A.14, A.15, A.16, A.17, A.18, A.22, A.24, A.25 September 30
2 Chapter 1 1.5, 1.10, 1.11, 1.13, 1.15 (parts 2, 6), 1.16 October 16
3 Chapter 2 2.2, 2.3, 2.4, 2.5, 2.8, 2.9 October 28
4 Chapter 3 3.8, 3.9, 3.10, 3.11 November 18


Grading

Homework 30%
Midterm 30%
Final Exam 40%