ME/ECE 859-Nonlinear Systems and Control, Spring 2008

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Announcements

• Please download the final exam. 

• The final paper submission is due by 4/30/08 Wednesday 3pm (extended).
• Please send me your electronic verion of the paper (pdf) via email.
• Please turn in your hard copy of the paper at my office by 3pm Wednesday.

• 4/19/08 Saturday 9am: First paper submission.
• 4/19/08 Saturday: I will send you papers to revirew.
• 4/21/08 Monday: Presentors: (Please send me your presentation slides via email by Sunday or Monday 7am)
• Sayyed Rouhollah Jafaritafti
• Mayank Mittal
• Xiaojian Yang
• Ryan Monroe
• 4/23/08 Wednesday: Presentors:
• Yunfei Xu
• Andrew White
• Will Smits
• Joonho Lee
• 4/23/08 Wednesday: Please send me your reviews via email by 5pm.
• No class on 4/25/08 Friday (Design day).

• 4/25/08 Exam 3 will be posted on the web.
• Due date: 4/29/08 Tuesday 10am. Please turn in your exam at my office.
  

• The final deadline for updating your project website is Monday 3/31-midnight. Reviewers also review your website.
• Please find the paper (reference [31]) related to the passivity based control.

• The scope of the second exam covers materials from Lecture 14 to Lecture 23 and Lecture 25 (until hw8).
• Please download this sample project page and fill out title, your name and  abstract.Rename this file using your last name like "project_Choi.html" You can send me the updated html file along with your current paper in pdf form.
• hw4 is due next Monday and we have the first mid-term exam on Wednesday (see the schedule). The exam is open book and open notes. 
• The scope is up to hw4 and lecture 13. Please review lecture notes, hws and associated book chapters. Please review second order nonlinear systems, Lyapunov theorems and  LaSalle's theorem (hw4).
• Please drop by any time for questions.

• hw2 has been posted. When you make phase portraits, you may want to use tau around 2 and other rates less than 1 to obtain a good plot.
• Please send your extended abstract (in word or plain text) to me via email. That should contain title and your name.
• A bonus problem has been added to hw1.
• To numerically construct phase portraits for second-order systems, please use ODE Software for Matlab (pplane7.m) written by John C. Polking, Rice University.
• Mathematical prelimiaries are posted in the lecture notes section.
• The text book is reserved in the engineering library.

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Instructor: Jongeun Choi, Assisntant Professor

2459 Engineering Building
East Lansing, MI 48824, Phone: (517)-432-3164 

Email:
 
Website: http://www.egr.msu.edu/~jchoi/

Class schedule: MWF: 9:10-10:00, Room 2320, Engineering Building.

Office hours: M 10:00-11:00 & 13:30-14:30,  W 13:30-14:30, 2459 Engineering Building. or You can drop by my office anytime.
 
Syllabus: pdf file.

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Course Topics
Introduction to nonlinear phenomena. Second-order systems. Stability of equilibrium points and  Lyapunov stability. Passivity-based control. Input-state and Input-output stability. Special nonlinear forms. Stabilization. Robust stabilization. Tracking. Observers. Regulation via integral control. Applications to electrical and mechanical systems.

Sample course outline and lectures by Prof. Khalil: 
http://www.egr.msu.edu/~khalil/NonlinearSystems/Sample/

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Lecture Notes

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Homework
There are about 11 homework assignments, which will be posted at least a week before the due date. The lowest two homework grades are dropped.

• HW1
• HW2
• HW3
• HW4
• HW5
• HW6
• HW7
• HW8
• HW9

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Project
Each of students will choose a problem  with some motivation. This will serve as a testbed problem throughout the class. Analysis and synthesis techniques from the class will   be applied to the problem. The abstract, introduction, and  results of the topic will be written in a technical paper format and will be presented in class. See more details in the class syllabus.

Sayyed Rouhollah Jafaritafti
Mayank Mittal
Xiaojian Yang
Ryan Monroe
Yunfei Xu
Andrew White
Will Smits
Joonho Lee

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Exams
All exams are open book and notes.

Grading