[ 481VRTRRTNU22 ] UE Control Theory for Nonlinear Systems

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Workload Education level Study areas Responsible person Hours per week Coordinating university
1,5 ECTS M - Master's programme Mechatronics Markus Schöberl 1 hpw Johannes Kepler University Linz
Detailed information
Original study plan Master's programme Mechatronics 2023W
Objectives The objective is to train and apply the methods presented in the lecture for the analysis and design of nonlinear complex dynamical multi-input multi-output systems to specific control problems and examples.

The level of the mathematical methods used to describe the dynamic systems, to design the control laws and to synthesize the control circuits corresponds roughly to that in the textbooks H.K Khalil : Nonlinear Systems, MacMillan Publishing Company, 1992; E. Slotine , Li Weiping.: Applied Nonlinear Control, Prentice–Hall, Inc. 1991; M. Vidyasagar : Nonlinear Systems Analysis, Prentice Hall, 1993.

Subject Mathematical basics for the theory of nonlinear dynamical systems, application examples of nonlinear systems, methods for the analysis of nonlinear systems, singular perturbation theory (slow and fast manifold, multi-scale models), sensitivity analysis, Lyapunov stabilty for autonomous and nonautonomous systems, Barbalat’s Lemma, Lyapunov based control design (PD control, computed torque, integrator backstepping, generalized backstepping, adaptive backstepping), passivity, positive realness, dissipativity, Kalman-Yakubovich-Popov Lemma, actuator/sensor collocation, Port-Hamiltonian systems, passivity-based control.
Criteria for evaluation Homework and/or oral exam
Methods Blackboard and slide presentation, use of modern software tools
Language German
Study material JKU KUSSS and/or Moodle
Changing subject? No
Corresponding lecture (*)MEMWBUERMS1: UE Regelung nichtlinearer mechatronischer Systeme 1 (1,25 ECTS)
On-site course
Maximum number of participants 35
Assignment procedure Assignment according to sequence