Nonlinear Systems

Learning objectives and acquired competences:

Students acquire knowledge of the analysis and control of nonlinear dynamic systems in state space. Simple engineering applications are also considered in this context.

Specifically, upon successful completion of the module, students will be able to:

• describe and analyze nonlinear systems in state space,
• systematically investigate the stability of nonlinear systems using direct and indirect Lyapunov methods,
• interpret energy- and passivity-based system descriptions and use them to make statements about system stability,
• systematically design and analyze simple nonlinear controllers.

Contents:

• Introduction to nonlinear dynamic systems
• Stability analysis using Lyapunov methods
• Port-Hamiltonian (pH) formulation of dynamic systems
• Energy- and passivity-based controller design
• Simple, systematic controller design methods such as backstepping and input-output linearization