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# 13D051NMS - Nonlinear Multivariable Systems

Course specification
Course title Nonlinear Multivariable Systems
Acronym 13D051NMS
Study programme Electrical Engineering and Computing
Module System Control and Signal Processing
Type of study doctoral studies
Lecturer (for classes)
Lecturer/Associate (for practice)
Lecturer/Associate (for OTC)
ESPB 9.0 Status elective
Condition Passed exams: Control Systems 1 and Control Systems 2, or equivalent exams (analysis and linear control design).
The goal Introduce students to methods of analysis and nonlinear scalar/multivariable control design for nonlinear multivariable plants.
The outcome Students are able to: model and analyze properties of nonlinear multivariable plants, implement nonlinear multivariable control designs, analyze achieved properties of the closed-loop systems.
Contents
Contents of lectures Lyapunov stability theory. Indirect and direct methods of Lyapunov. LaSalle theorems. Advanced stability theory. Lie algebra. Feedback linearization. Input-states and input-output feedback linearization. Internal and zero dynamics. Applied nonlinear control techniques: sliding-mode, nonlinearity compensation, gain scheduling, fuzzy control. Aspects of analysis and implementation.
Contents of exercises None.
Literature
1. T.B. Petrović, A.Ž. Rakić: Nonlinear Dynamic Systems (in preparation).
2. J. J. E. Slotine, W. Li: Applied Nonlinear Control, Prentice-Hall, New Jersey, 1991.
3. M. Vidyasagar: Nonlinear Systems Analysis, Prentice-Hall, New Jersey, 1993.
4. A. Isidori: Nonlinear Control Systems; Springer Verlag, 1990.
5. K. M. Passino, S. Yurkovich: Fuzzy Control, Addison-Wesley, New York, 1998.
Number of hours per week during the semester/trimester/year
Lectures Exercises OTC Study and Research Other classes
6
Methods of teaching Lectures. Students are obliged to solve and defend individually assigned project, which earns them exam points.
Knowledge score (maximum points 100)
Pre obligations Points Final exam Points
Activites during lectures 60 Test paper 20
Practical lessons 0 Oral examination 20
Projects
Colloquia 0
Seminars 0