Nonlinear and Adaptive Control, Spring 2011

Instructor
Prof. Ali GHaffari, ghaffari@kntu.ac.ir

Teaching Assistants
AliReaz KHodayari, arkhodayari@dena.kntu.ac.ir
Farzad Cheraghpour,

Description
Three hours of lecture and one hour of discussion per week. Fundamental properties of nonlinear systems. Stability of nonlinear systems. Controller Design via Lyapunov methods. Equivalent Linearization methods including limit cycle prediction.

Assignments
· Assignment1, Solution1
· Assignment2, Solution2
· Assignment3, Solution3
· Assignment4, Solution4
· Assignment5, Solution5

Projects
· Project1
· Project2
· Project3

Textbook and References
1. A. GHaffari, “Nonlinear and Adaptive Control”, Classroom Notes, K. N. Toosi University of Technolog, 2008.
2. J. J. Slotine and W. Li, “Applied Nonlinear control”, Prentice-Hall, 1991.
3. K. J. Astrom and B. Wittenmark, “Adaptive Control”, 2rd Edit., Pearson Education, 2006.
4. Selected Papers.

Marking Scheme
1. Assignments and Quizzes: 20%
2. Mid-term Exam: 25%
3. Projects: 10%
4. Final Exam: 45%