Nonlinear Control Systems

ECSE 6420
Spring 2009
Lecture 1: 12 January 2009
Information
Instructor: Agung Julius (agung@ecse)
Office hours: JEC 6044 Mon,Wed 3 4pm
Teaching assistant: He Bai (baih@rpi.edu)
Office hours: CII 8123 Mon 2 4pm
Textbook: H.K. Khalil, Nonlinear Systems 3
rd
ed,
Prentice Hall.

Online contents:
www.ecse.rpi.edu/~agung (Notes, HW sets)
WebCT (grades)

Prerequisite(s)

The course is for graduate or advanced undergraduate
students with working knowledge in differential
calculus, linear algebra, and linear systems/control
theory.


Attendance background?
Grading
Homeworks = 30%
Midterm exam = 25%
Project/presentation = 10% + 5%
Final exam = 30%

Homework sets are due one week after handout.
Late submissions will get point deduction (no
later than 1 week).
Grading
Project: advanced paper review and
presentation, or class project.

Midterm exam will be a take home test. You
will have 48 hours to solve the problems. No
collaboration is allowed. No late submission!

Final exam will follow schedule.

Linear systems vs nonlinear systems
Linear systems
Nonlinear systems
Linear systems vs nonlinear systems
Linear systems
Nonlinear systems
Linear systems
Linear systems are systems that have a certain set of
properties.






Linear systems are very nice objects to study because
of their regularity. Why? We need structure.


System
ic
output
input
What is tricky about nonlinear systems?
LACK OF STRUCTURE!
Cannot take everything for granted.

Existence and uniqueness of solution to diff. eqns.


Finite escape time



Nonlinear from linear
A lot of techniques that are used for nonlinear
systems come from linear systems, because:
Nonlinear systems can (sometime) be
approximated by linear systems.
Nonlinear systems can (sometime) be
transformed into linear systems.
The tools are generalized and extended.
Why study nonlinear systems?
Linearity is idealization. E.g. a simple pendulum.

A lot of phenomena are only present in nonlinear
systems.
Multiple (countable) equilibria. Why?
Robust oscillations: where?
Bifurcations
Complex dynamics

Why simulation is not always enough
Why simulation is not always necessary

Multistability in nature
toggle switch
Robust oscillation
Course outline
Linear vs Nonlinear
Planar dynamical systems
Fundamental properties
Lyapunov stability theory
Input output analysis and stability
Passivity
Frequency domain analysis
Nonlinear feedback control
Non-traditional topics: hybrid systems, biological
systems, etc.