ECE Course Outline
Nonlinear Systems and Control (3-0-3)
- ECE 6550
- Catalog Description
- Classical analysis techniques and stability theory for nonlinear systems. Control design for nonlinear systems, including robotic systems. Design projects.
- 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