Nonlinear Control Theory
PhD course on Nonlinear Control, (FRT025F)
Lecturers: Anders Rantzer, Anders Robertsson, Bo Bernhardsson
The course is open for all PhD students and gives 7.5 ECTS credits.
Course description:
The goal of the course is to provide good knowledge and practice the ability to use classical as well as modern analysis and design methods for nonlinear control systems.
With a few exeptions, all lectures and exercise sessions are given in the seminar room at 1315-1500 on Tuesday and Fridays.
Lectures:
- April 4: L1 Nonlinear phenomena and Lyapunov theory (ARa)
- April 11: L2 Absolute stability theory, dissipativity and IQCs (ARa)
- April 19: L3 Density functions and computational methods (ARa)
- April 25: L4 Hybrid systems and dynamic programming (ARa)
- May 2: L5 Relaxed dynamic programming and Q-learning (ARa/Bo)
- May 9: L6 Controllability and Lie brackets (Bo)
- May 16: L7 Synthesis: Exact linearization, backstepping, forwarding (ARo)
- May 30: L8 Student presentations
Exercises:
- April 7: E1 Nonlinear phenomena and Lyapunov theory
- April 21: E2 Absolute stability theory, dissipativity and IQCs
- April 28 in room M:D: E3 Density functions and computational methods
- May 5: E4 Hybrid systems
- May 12: E5 Relaxed dynamic programming and Q-learning
- May 19: E6 Controllability and Lie brackets
- May 23: E7 Synthesis: Exact linearization, backstepping, (forwarding)
Mini-projects:
Suggestions will be posted here.
Literature
H. K. Khalil, Nonlinear Systems 3rd ed. Prentice Hall, 2002,
ISBN 0-13-067389-7 [book home page with errata]
On the KYP-lemma by Anders Rantzer
IQC_Lecture notes by U. Jönsson errata
IQC-paper by Megretski and Rantzer 1997
Seminar by Anton Shiriaev on Circle Criterion (version for 1st Swe-Chin conf.)
The Joy of Feedback (1991 Bode Prize Lecture by P. Kokotovic)
Old course home pages