Chapter 1-Introduction

Chapter 2- Contraction Approach to Filtered Backstepping

Chapter 3- Contraction Based Stabilization of Nonlinear SPS
Chapter 4- High Gain Observer Based Output Feedback Stabilization of Nonlinear SPS
Chapter 5- Time Scale Redesign for Saturated Controller Synthesis
Chapter 6- Applications
Chapter 7- Conclusion

Contraction Theory Based Convergenece

Analysis and Controller Design for Singularly
Perturbed Systems

Department of Electrical Engineering

IIT Delhi
 Chapter 1-Introduction
Chapter 2- Contraction Approach to Filtered Backstepping
Chapter 3- Contraction Based Stabilization of Nonlinear SPS
Chapter 4- High Gain Observer Based Output Feedback Stabilization of Nonlinear SPS
Chapter 5- Time Scale Redesign for Saturated Controller Synthesis
Chapter 6- Applications
Chapter 7- Conclusion

Outline
1 Chapter 1-Introduction
Singularly Perturbed Systems
Stability of Nonlinear SPS
Contraction Framework
2 Chapter 2- Contraction Approach to Filtered Backstepping
3 Chapter 3- Contraction Based Stabilization of Nonlinear
SPS
4 Chapter 4- High Gain Observer Based Output Feedback
Stabilization of Nonlinear SPS
5 Chapter 5- Time Scale Redesign for Saturated Controller
Synthesis
6 Chapter 6- Applications
7 Chapter 7- Conclusion
 Chapter 1-Introduction
Chapter 2- Contraction Approach to Filtered Backstepping
Chapter 3- Contraction Based Stabilization of Nonlinear SPS Singularly Perturbed Systems
Stability
Chapter 4- High Gain Observer Based Output Feedback Stabilization of of Nonlinear
Nonlinear SPS SPS
Chapter 5- Time Scale Redesign for Saturated Controller Synthesis Contraction Framework
Chapter 6- Applications
Chapter 7- Conclusion

Literature Review

Definition
Natural vs Forced Time Scale
Linear vs Nonlinear
Standard vs Nonstandard
 Chapter 1-Introduction
Chapter 2- Contraction Approach to Filtered Backstepping
Chapter 3- Contraction Based Stabilization of Nonlinear SPS Singularly Perturbed Systems
Stability
Chapter 4- High Gain Observer Based Output Feedback Stabilization of of Nonlinear
Nonlinear SPS SPS
Chapter 5- Time Scale Redesign for Saturated Controller Synthesis Contraction Framework
Chapter 6- Applications
Chapter 7- Conclusion

Different Approaches

Local Stability
Tikhonov Theorem
Limitation
Quadratic Lyapunov Stability
Conservative Bound and Interconnection Condition
(Motivating example)
 Chapter 1-Introduction
Chapter 2- Contraction Approach to Filtered Backstepping
Chapter 3- Contraction Based Stabilization of Nonlinear SPS Singularly Perturbed Systems
Stability
Chapter 4- High Gain Observer Based Output Feedback Stabilization of of Nonlinear
Nonlinear SPS SPS
Chapter 5- Time Scale Redesign for Saturated Controller Synthesis Contraction Framework
Chapter 6- Applications
Chapter 7- Conclusion

Convergence Analysis

Variational system replaces error dynamics.

Recursive Procedure
Advantage
Motivating Example and Calculation of Bounds
Organization of Thesis
 Chapter 1-Introduction
Chapter 2- Contraction Approach to Filtered Backstepping
Chapter 3- Contraction Based Stabilization of Nonlinear SPS
Chapter 4- High Gain Observer Based Output Feedback Stabilization of Nonlinear SPS
Chapter 5- Time Scale Redesign for Saturated Controller Synthesis
Chapter 6- Applications
Chapter 7- Conclusion

Contraction Approach to Filtered Backstepping

Problem Formulation
Convergence Analysis of Filtered Backstepping using
Contraction
Disturbance Observer Based Filtered Backstepping
Output Feedback for Filtered Backstepping
Simulation
 Chapter 1-Introduction
Chapter 2- Contraction Approach to Filtered Backstepping
Chapter 3- Contraction Based Stabilization of Nonlinear SPS
Chapter 4- High Gain Observer Based Output Feedback Stabilization of Nonlinear SPS
Chapter 5- Time Scale Redesign for Saturated Controller Synthesis
Chapter 6- Applications
Chapter 7- Conclusion

Contraction Based Stabilization of Nonlinear SPS

Problem Formulation
Stabilization of Standard SPS
Tracking Controller for Standard and Nonstandard SPS
Contraction Based Stabilization of Approximate Feedback
Linearizable Systems.
Simulation
 Chapter 1-Introduction
Chapter 2- Contraction Approach to Filtered Backstepping
Chapter 3- Contraction Based Stabilization of Nonlinear SPS
Chapter 4- High Gain Observer Based Output Feedback Stabilization of Nonlinear SPS
Chapter 5- Time Scale Redesign for Saturated Controller Synthesis
Chapter 6- Applications
Chapter 7- Conclusion

High Gain Observer Based Output Feedback

Robustness of HGO Against Variation of Parameter

Output Feedback Design and Convergence Analysis
Application to Power System
 Chapter 1-Introduction
Chapter 2- Contraction Approach to Filtered Backstepping
Chapter 3- Contraction Based Stabilization of Nonlinear SPS
Chapter 4- High Gain Observer Based Output Feedback Stabilization of Nonlinear SPS
Chapter 5- Time Scale Redesign for Saturated Controller Synthesis
Chapter 6- Applications
Chapter 7- Conclusion

Saturated Controller Synthesis

Partial Contraction Based Proof For Existence of a

Saturated Feedback Linearizing Control Law
HGO Based Saturated Output Feedback Design
Application to Suppression of Wing Rock Phenomenon in
High Performance Aircraft
 Chapter 1-Introduction
Chapter 2- Contraction Approach to Filtered Backstepping
Chapter 3- Contraction Based Stabilization of Nonlinear SPS
Chapter 4- High Gain Observer Based Output Feedback Stabilization of Nonlinear SPS
Chapter 5- Time Scale Redesign for Saturated Controller Synthesis
Chapter 6- Applications
Chapter 7- Conclusion

Applications

Saturated Controller for Mobile Robots

Controller Design for Network of Multiple Agents
Contraction Analysis of Time Scale Separation in Wide
Area Networks
 Chapter 1-Introduction
Chapter 2- Contraction Approach to Filtered Backstepping
Chapter 3- Contraction Based Stabilization of Nonlinear SPS
Chapter 4- High Gain Observer Based Output Feedback Stabilization of Nonlinear SPS
Chapter 5- Time Scale Redesign for Saturated Controller Synthesis
Chapter 6- Applications
Chapter 7- Conclusion

Conclusion

Limitation of The Approach and Future Work