Syllabus
Nonlinear Control: An introduction to vector fields, flows and integral curves of differential equations, Lie Brackets, Frobenious theorem, Orbits, accessibility and controllability, Control design based on Liapunov’s method
Feedback Linearization: Feedback Linearization and the canonical form, Input‐state Linearization of SISO systems, Input output Linearization of SISO systems
Sliding Mode Control: Sliding surfaces, Filippov’s construction of the equivalent dynamics, direct implementations of switching control laws, Continuous approximations of switching control laws
Text Books
Same as Reference
References
1. Nonlinear Systems, H. K. Khalil, Prentice Hall, 2002.
2. Applied nonlinear Control, Jean‐ Jacques Slotine and Weiping Li, Prentice Hall,1991.
3. Ordinary Differential Equations, V. Arnold, Springer, 1992.
4. Nonlinear Control Systems, A. Isidori, Springer, 1989.
5, Nonlinear Control Systems, H. Neijmier and A. Van der Schaft Springer,1992.
Course Outcomes (COs):
CO1: Apply Lie Brackets and the Frobenius theorem to analyze system dynamics and determine conditions for system integrability.
CO2: Implement Feedback Linearization techniques to transform nonlinear systems into a canonical form suitable for control design.
CO3: Define sliding surfaces and apply them to design robust control laws that ensure system trajectories remain on the sliding surface.
CO4: Integrate concepts from nonlinear control, feedback linearization, and sliding mode control to solve practical control problems.