# Nonlinear Control Design-EE 573 Course outline

The course deals with nonlinear analysis for the most part and the remaining is devoted to control design techniques. 1. Mathematical preliminaries: Open and closed sets, compact set, dense set, Continuity of functions, Lipschitz condition, smooth functions, Vector space, norm of a vector, normed linear space, inner product space. 2. We will begin with an introduction to simple mechanical systems wherein the notion of degree-of-freedom, conﬁguration space, conﬁguration variables will be brought out. The state-space models of a few benchmark examples in nonlinear control will be derived using Euler-Lagrange formulation. The notion of equilibrium points and operating points will help us to extract linearized models based on Jacobian linearization. 3. Second-order nonlinear systems occupy a special place in the study of nonlinear systems since they are easy to interpret geometrically in the plane. Here, we will touch upon the concept of a vector ﬁeld, trajectories, vector ﬁeld plot, phase-plane portrait and positively invariant sets. The classiﬁcation of equilibrium points based on the eigenvalues of the linearized system will also be introduced and we will see why the analysis based on linearization fails in some cases. Periodic solutions and the notion of limit cycles will lead us to the Bendixson’s theorem and Poincar´ e-Bendixson criteria that provide suﬃcient conditions to rule-out and rule-in the existence of limit cycles respectively for a second-order system. We will end this discussion with two methods for obtaining an approximate solutions of periodic solutions. 4. Stability notions: Stability is central to control system design and here we will study various notions of stability such as Lagrange stability, Lyapunov stability, asymptotic stability, global asymptotic stability, exponential stability, relative stability and instability. The tools that we will use to infer the stability properties include Lyapunov’s direct and indirect method, La Salle’s invariance property and singular perturbations. 5. Design methods: Finally, we will see the design of control laws based on Lyapunov function and Sliding mode control and illustrate the methodology on a few benchmark examples. References 1. Nonlinear System Analysis: M. Vidyasagar, Second Edition, SIAM 2. Nonlinear Systems: H. K. Khalil, Third Edition, Prentice Hall, NJ

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