School of Industrial and Information
Engineering
Politecnico
di Milano
Academic
Year 2017/18
Instructor:
Maria Prandini
Dipartimento di Elettronica, Informazione e Bioingegneria
tel. 02-2399-3441
e-mail:
maria.prandini@polimi.it
homepage: http://home.deib.polimi.it/prandini/
Schedule:
Monday 13:30 – 15.15 Room L.26.01
Wednesday 10:30 – 13.15 Room D.0.4
Course description:
The aim of this course is to introduce the student to the area of
nonlinear control systems, that is control systems characterized by the
presence of a nonlinear element, which can either be the system under control
or the controller itself, including sensors and actuators.
Some classical as well as modern analysis and controller design methods
for nonlinear systems will be covered so as to enable the student to appreciate
the diversity of phenomena that arise in nonlinear systems and to address a
significant class of analysis and control design problems in a nonlinear
context.
The course comprises lectures and specific sessions with numerical
examples.
It is structured in two parts, the first one dealing with analysis and
the second one with design.
Part 1: Analysis of nonlinear feedback systems
- absolute stability of Lur’e systems
- switching systems stability
- input-output stability
- passivity-based analysis
- existence and stability of periodic oscillations
Part 2: Nonlinear control design
- variable structure control
- feedback linearization
- switching control
Date |
Slides |
September 18, 2017 |
Introduction to the course [pdf] Lur’e problem [pdf] |
September 20, 2017 |
Lur’e problem [pdf] Review of Lyapunov stability
theory [pdf] |
September 25, 2017 |
Lur’e problem [pdf] Lur’e problem in the time varying case [pdf] |
September 27, 2017 |
Lur’e problem in the time varying case [pdf] Numerical examples on the Lur’e problem [pdf] |
October 2, 2017 |
Switched systems stability and stabilization [pdf] |
October 4, 2017 |
Input-output approach [pdf] |
October 18, 2017 |
Input-output approach [pdf] Input-output stability [pdf] |
October 23, 2017 |
Passivity-based analysis [pdf] |
October 30, 2017 |
Numerical examples on the input-output approach [pdf] |
November 6, 2017 |
Numerical
examples on passivity-based analysis [pdf] Periodic
oscillations [pdf] |
November 8, 2017 |
Describing
function method [pdf] |
November 20, 2017 |
Numerical
examples on the describing function method [pdf] Variable
structure control [pdf] |
November 22, 2017 |
Variable
structure control [pdf] Numerical
examples on variable structure control [pdf] |
November 27, 2017 |
Feedback
linearization [pdf] |
November 29, 2017 |
Feedback
linearization [pdf] |
December 4, 2017 |
Feedback
linearization [pdf] |
December 6, 2017 |
Numerical
examples [pdf] |
December 20, 2017 |
Numerical
examples [pdf] |
Exam:
The final assessment will be a written exam consisting of both exercises
and theoretical questions.
References:
H. K. Khalil, Nonlinear Systems, Editore: Prentice-Hall
M. Vidyasagar, Nonlinear
Systems Analysis, Editore: Prentice-Hall
Exams
July 20, 2017 [pdf]
June 28, 2017 [pdf]
February 9, 2017 [pdf]
September 30, 2016 [pdf]
September 14, 2016 [pdf]
February 2, 2016 [pdf]
March 3, 2016 [pdf]
June 30, 2016 [pdf]
Previous exams [in Italian]
Appello del 10 febbraio 2014 [pdf]
Appello del 28 febbraio 2014 [pdf]
Appello del 3 luglio 2014 [pdf]
Appello del 10 settembre 2014 [pdf]
Appello del 1 ottobre 2014 [pdf]