NONLINEAR CONTROL (5 CFU)

School of Industrial and Information Engineering

Politecnico di Milano

Academic Year 2018/19

 

 

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 Lecture room L26.01

Friday 08:45 – 10.15 Lecture room E.G.2

 

 

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

- switched 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

 

Slides will be posted in due course.

 

Date

Slides

17/09/2018

Introduction (pdf)

Lur’e problem (pdf)

24/09/2018

Lyapunov theory (pdf)

28/09/2018

Lur’e problem (pdf)

01/10/2018

Lur’e problem: numerical examples (pdf)

05/10/2018

Lur’e problem: time varying case (pdf)

08/10/2018

Switched systems (pdf)

12/10/2018

Input-output approach  (pdf)

15/10/2018

Input-output approach  (pdf)

19/10/2018

Input-output approach (pdf)

22/10/2018

Input-output approach: numerical examples (pdf)

26/10/2018

Passivity-based analysis (pdf)

28/10/2018

Passivity-based analysis: numerical examples (pdf)

Periodic oscillations (pdf)

09/11/2018

Describing function method (pdf)

12/11/2018

Describing function method: numerical examples (pdf)

16/11/2018

Variable structure control (pdf)

19/11/2018

Variable structure control (pdf)

23/11/2018

Variable structure control: numerical examples (pdf)

Feedback linearization (pdf)

26/11/2018

30/11/2018

Feedback linearization (pdf)

03/12/2018

Feedback linearization (pdf)

10/12/2018

Numerical examples on feedback linearization (pdf)

Numerical examples (pdf)

14/12/2018

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 16, 2018 [pdf]

June 19, 2018 [pdf]

February 7, 2018 [pdf]

January 19, 2018 [pdf]

September 14, 2017 [pdf]

July 20, 2017 [pdf]

June 28, 2017 [pdf]

February 27, 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]