EE 699 - NONLINEAR CONTROL SYSTEMS

OFFICE HOUR:

M-F: 1:00 - 2:00 pm

Reference Books:

Robert Haber, Nonlinear System Identification - Input-Output Modeling Approach, Vol.1 Nonlinear System Parameter Identification, Springer, 2000

Robert Haber, Nonlinear System Identification, Vol.2 Nonlinear System Structure Identification, Springer, 2000

H. K. Khalil. Nonlinear Systems, 3rd Edition. Prentice-Hall, 2002.

COURSE WEBSITE:

http://www.engr.uky.edu/~ymzhang/ NonlinearControlSystems/NonlinearControlSystems.html

GRADING:

HW 25%

Test 1 25%

Test 2 25%

Project 25%

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Total……100%

TENTATIVE PLAN

1. Introduction to nonlinear control systems: Why nonlinear control?

Part 1: Modeling and identification of nonlinear systems

2. Introduction to modeling and identification of nonlinear systems

3. Nonlinear dynamic process models

4. Test signals for identification

5. Parameter estimation methods

6. Nonlinearity test methods

7. Structure identification

8. Model validation

9. Case study on identification of real nonlinear processes

Lecture: 08/23/06-09/15/06. Test 1: 09/18/06

Part 2: Analysis and control of nonlinear systems

10. Introduction to analysis and control of nonlinear systems

11. Basic definitions and theorems on Lyapunov stability

12. Input-to-state stability, Input-to-state practical stability

13. Coordinate transformation

14. Normal form

15. Exact linearization

16. Zero dynamics

17. Nonlinear design tools : Stabilization, Disturbance decoupling, Nonlinear damping, Backstepping, High-gain observers

18. Control of uncertain nonlinear systems: Robust adaptive control

Lecture: 09/20/06-10/13/06 Test 2: 10/16/06

Projects: 09/01/06-12/01/06

OUTCOMES

1. Identification of model structure for nonlinear system;

2. Parameter estimation of nonlinear system;

3. Understanding of practical issues associated with nonlinear system identification;

4. Use Lyapunov stability to construct controllers for nonlinear systems;

5. Design robust adaptive controller for uncertain nonlinear systems;

6. Get familiar with basic concepts and tools for nonlinear control systems and obtain a basis for an advanced research on nonlinear system control.