Nonlinear Control

Learning objectives and acquired competences:

Students acquire advanced competencies and methodological skills for the analysis and control of nonlinear dynamical systems in state-space representation. Selected engineering applications serve as illustrating examples. After successful completion of the module, students are able to

• describe and analyze nonlinear dynamical systems in the state space,
• systematically assess the stability of nonlinear systems using both direct and indirect Lyapunov methods,
• systematically design and analyze basic nonlinear controllers.

Contents:

• introduction to nonlinear dynamical systems

• stability analysis using Lyapunov methods

• systematic nonlinear controller design methods including backstepping and input–output linearization

• flatness-based control design and input-state linearization

• energy- and passivity-based control design