19D051NMS - Nonlinear Multivariable Systems

Course specification
Course title Nonlinear Multivariable Systems
Acronym 19D051NMS
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 None.
      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 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.
      1. J. Slotine and W. Li, Applied nonlinear control. Taipei: Pearson education Taiwan, 2005. (Original title)
      2. H. Khalil, Nonlinear systems. Harlow: Pearson, 2014. (Original title)
      3. A. Isidori: Nonlinear Control Systems; Springer Verlag, 1990. (Original title)
      4. T.B. Petrović, A.Ž. Rakić: Nonlinear Dynamic Systems (in preparation).
      5. M. Vidyasagar, Nonlinear systems analysis. Philadelphia: SIAM, 2002. (Original title)
      Number of hours per week during the semester/trimester/year
      Lectures Exercises OTC Study and Research Other classes
      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 0 Test paper 0
      Practical lessons 0 Oral examination 30
      Projects 70
      Colloquia 0
      Seminars 0