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ECE Course Syllabus

ECE6552 Course Syllabus

ECE6552

Nonlinear Systems and Control (3-0-3)


Technical Interest
Group
Systems and Controls

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)


Strategic
Performance
Indicators (SPIs)
SPIs are a subset of the abilities a student will be able to demonstrate upon successfully completing the course.


Topical Outline
1.	Nonlinear Systems Analysis 
	a.	Phase Plane Analysis
	b.	Lyapunov Stability Analysis
	c.	Input-Output Stability Analysis
2.	Linearization Based Design
	a.	Relative Degree
	b.	Normal Form
	c.	Zero Dynamics
	d.	Input-Output Linearization
	e.	Input-State Linearization
3.	Lyapunov Based Design
	a.	Backstepping Control
	b.	Passivity Control
4.	Applications in Robotics
	a.	Kinematic and Dynamic Modeling
	b.	Control Design