Nonlinear Control

What it is about

You will learn analysis and design methods for nonlinear dynamic systems in state space. After the module you will be able to assess the stability of equilibrium points, apply fundamental differential-geometric concepts, and design nonlinear control strategies such as backstepping, passive-based control, and flatness-based feedforward controllers.

What you will be able to do

• Analyze stability of equilibria and passivity
• Understand Lie derivatives, Lie brackets, involutivity and integrability of distributions
• Explain differential-geometric conditions for input-state linearization
• Design nonlinear controllers using backstepping
• Develop passivity-based control laws
• Understand the concept of flatness and design flatness-based feedforward controllers

What the module consists of

• Lecturesweekly 90 min.; imparting theory and concepts
• Tutorialweekly 45 min.; work on exercises and discuss solutions
• optional repetitions/deep-divesadditional support and discussion of advanced material

Teaching method

• Preparation by reading the lecture sectionsenables active understanding and more efficient participation in lectures and exercises
• Exercise problems with solutionspromotes practicing calculation and design skills; homework for deeper understanding
• Blackboard lectures complemented by slides and handoutsstructured delivery and provision of materials for later study