Nonlinear Control Systems
- recognize common nonlinear control problems
- apply some powerfull analysis methods
- apply some practical design methods
- discover how nonlinearities can improve system dynamics
- apply stability analysis methods to real systems
- identify and remove negative effects that appear in nonlinear control systems
Forms of Teaching
Three hours of lectures per week.Laboratory
Four laboratory exercises.
|Type||Threshold||Percent of Grade||Threshold||Percent of Grade|
|Laboratory Exercises||0 %||20 %||0 %||20 %|
|Mid Term Exam: Written||0 %||20 %||0 %|
|Final Exam: Written||0 %||20 %|
|Final Exam: Oral||40 %|
|Exam: Written||0 %||40 %|
|Exam: Oral||40 %|
The condition for taking the oral exam is that all laboratory exercises have been completed and that 50% of the maximum sum of points from laboratory exercises, midterm exam and final exam has been achieved.
Week by Week Schedule
- Introduction. Examples of nonlinear control systems. Characteristic nonlinear behaviours.
- Dynamic analysis of nonlinear systems. Typical nonlinear elements.
- Phase portrait of nonlinear systems.
- Tangent method of linearization. Secant method of linearization. Harmonic linearization.
- Describing function
- Self-oscillations - examples.
- Midterm exam
- Stability of self-oscillations
- Forced oscillations
- Feedback linearization. Controllability of nonlinear systems.
- Lyapunov stability in nonlinear control systems (algebraic criteria)
- Lyapunov stability for nonlinear time-varying systems. Sliding mode control
- Popov stability (graphical criteria)
- Final exam