Nonlinear and Adaptive Control, Spring 2019
1- Instructor
Professor Ali Ghaffari, ghaffari@kntu.ac.ir
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2- Teaching Assistant
Hamid Rahmanei
Hamid.rahmanei20@gmail.com
personal website
2-1- TA Class Schedule
Saturdays, 12:00-13:15, Room 306
2-2- TA Class Telegram ID
nonlinearcontrolKNTU2019
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3- Course Description
Three hours of lectures, One hour of discussion per week.
Course Materials and Topics:
1- Fundamentals of nonlinear system properties. (self excitation, chaos, subharmonic generation, jump, ...)
2- Describing Function Method. (odd nonlinearities, existence of limit cycles and properties, stbility analysis, ...)
3- Stability Analysis Methods. (Lyapunov Methods, popov and circle criterion, hyperstability, invariant set theorems, ...)
4- Equivalent linearization methods and control design. (feedback linearization, I-O linearization, ... )
5- Lyapunov based control design and state dependent riccati equation (SDRE) for nonlinear optimal control.
6- Sliding Mode Control design (SMC) and Variable structure control design methods (VSC).
7- Adaptive Control design (based on popov hyperstability & lyapunov based method).
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4- Assignments & Homeworks
| Assignment1 | Solution1 | Scores1 |
| Assignment2 | Solution2 | Scores2 |
| Assignment3 | Solution3 | Scores3 |
| Assignment4 | Solution4 | Scores4 |
| Assignment5 | Solution5 | Scores5 |
| Assignment6 | Solution6 | Scores6 |
| Assignment7 | Solution7 | Scores7 |
| Assignment8 | Solution8 | Scores8 |
Extra Questions
| Extra Questions #01 | Solution #01 |
| Extra Questions #02 | Solution #02 |
| Extra Questions #03 | Solution #03 |
| Extra Questions #04 | Solution #04 |
| Extra Questions #05 | Solution #05 |
| Extra Questions #06 | Solution #06 |
| Extra Questions #07 | Solution #07 |
| Extra Questions #08 | Solution #08 |
| Extra Questions #09 | Solution #09 |
| Extra Questions #10 | Solution #10 |
| Extra Questions #11 | Solution #11 |
| Extra Questions #12 | Solution #12 |
5- Course Projects
| Nonlinear Phenomenon | Project01(Pdf) | Scores(100) |
| Nonlinear Analysis | Project02(Pdf) | Scores(100) |
| Modeling and Simulations | Project03(Pdf) | Scores(100) |
| Nonlinear Control | Final Project(Pdf) | Scores(100) |
6- Sample Exams
| Mid-Term 1 | Solution 1 | ------ |
| Mid-Term 2 | Solution 2 | ------ |
| Mid-Term 2019 | Solution | Scores |
| Final 1 | Solution 1 | ------ |
| Final 2 | Solution 2 | ------ |
| Final 2019 | Solution | Scores |
7- Textbook and References 8- Extra Notes
1- A. Ghaffari, "Nonlinear and adaptive control," Lecture Notes, K.N.Toosi University of Technology, 2008-2014.
2- J.J. Slotine, & W. Li, "Applied Nonlinear Control," Prentice-Hall, 1991.
3- H. K. Khalil, "Nonlinear Systems," 3rd edition, Prentice Hall, Upper Saddle River, New Jersey, 2002.
4- A. Isidori, "Nonlinear Control Systems," 3rd edition, Springer Verlag, London, 1995.
5- K. J. Astrom & B. Wittenmark, "Adaptive Control," Reading, MA: Addison-Wesley, 1995.
6- I. D. Landau, R. Lozano, & M. M’Saad, "Adaptive Control," New York, NY: Springer-Verlag, 1998.
7- Selected Papers.
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Introduction
Phase plane analysis
Fundamentals of lyapunov theory
Advanced stability theory
Describing function analysis
Nonlinear control systems design
Paper #1: Stability of Limit Cycles
Popov & Circle Criteria
8- Marking Scheme
1. Assignments and Homeworks.
2. Quizzes.
3. Mid-term Exam.
4. Projects.
5. Final Exam.
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