ECE Course Outline

ECE6552

Nonlinear Systems and Control (3-0-3)

Prerequisites
ECE 6550
Corequisites
None
Catalog Description
Classical analysis techniques and stability theory for nonlinear systems. Control design for nonlinear systems, including robotic systems. Design projects.
Textbook(s)
Khalil, Nonlinear Systems (3rd edition), Prentice Hall, 2001. ISBN 9780130673893 (required)

Topical Outline
Nonlinear Systems Analysis (4 weeks)
    Phase Plane Analysis
    Describing Function Analysis
    Lyapunov Stability Analysis
    Input-Output Stability Analysis
    Passivity

Linearization Based Design (5 weeks)
    Relative Degree
    Normal Form
    Zero Dynamics
    Input-Output Linearization
    Input-State Linearization

Lyapunov Based Design (3 weeks)
    High-Gain Control
    Sliding-Mode Control
    Backstepping Control
    Passivity Control

Applications in Robotics (2 weeks)
    Kinematic and Dynamic Modeling
    Control Design