ME/ECE 859-Nonlinear Systems and Control, Spring 2008
Lecture Notes
- Mathematical Preliminaries (based on Appendix of the textbook)
- Lecture 1 (Nonlinear models)
- Lecture 2 (Examples)
- Lecture 3 (Phase portraits)
- Lecture 4 (Qualitative behavior near equilibrium points)
- Lecture 5 (Limit cycles)
- Lecture 6 (Bifurcation)
- Lecture 7 (Stability of equlibrium points and linearization)
- Linear operators (by Poolla, UC Berkeley)
- Lecture 8 (Lyapunov's method I)
- Linear algebra (by Packard, UC Berkeley)
- Lecture 9 (Lyapunov's method II)
- Lecture 10 (Invariance principle)
- Lecture 11 (Exponential stability and ROA)
- Lecture 12 (Converse theorems and time varying systems)
- Lecture 13 (Perturbed systems)
- Lecture 14 (Memoryless functions and state models)
- Lecture 15 (Positive real transfer functions and Lyapunov)
- Lecture 16 (Feedback systems: passivity)
- Lecture 17 (Cricle and Popov criteria)
- Lecture 18 (Unltimate bound and ISS)
- Lecture 19 (Input output stability)
- Lecture 20 (L stability of state models)
- Lecture 21 (L2 gain and small gain theorem)
- Lecture 22 (Normal form)
- Lecture 23 (Controller form) Lecture 24 (Observer form and strict feedback form, skipped)
- Lecture 25 (Stabilization)
- Lecture 26 (Stabilization, Feedback Linearization)
- Lecture 27 (Stabilization, Partial FL)
- Lecture 28 (Stabilization, Backstepping)
- Lecture 29 (Stabilization, Passivity based control)
- Lecture 30 (Stabilization, Control Lyapunov Functions)
- Lecture 31 (Stabilization, Output Feedback)
- Lecture 32 (Robust Stabilization, Sliding Mode Control)
- Lecture 33 (Robust Stabilization, Sliding Mode Control)
- Lecture 34 (Robust Stabilization, Lypunov Redesign and Backstepping)
- Lecture 35 (Tracking, Feedback Linearization and Sliding Mode Control)
- Lecture 36 (Tracking Equilibrium to Equilibrium Transition)
- Lecture 37 (Observers, Linearization and EKF)