Specifically, they can
- Characterize properties of nonlinear systems and distinguish them from linear systems (k2,k4)
- Characterize local existence and uniqueness of the initial value problem using Banach space methods (k4,k5)
- Explain the basics of Lyapunov theory and apply them to examples (k2,k4)
- Use the invariance principle and Barbalat's lemma for stability analysis (k2,k6)
- Explain PD controllers and computed torque controllers (including adaptation) and apply them to Euler-Lagrange systems (k2,k6)
- Formulate PCHD systems and design controllers based on them (damping injection and IDA-PBC) (k2,k6)
- Design controllers (including adaptive ones) using the backstepping method (k6)
- Explain the basics of optimal control and flatness-based design methods (k2,k3)
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- Mathematical foundations for the theory of nonlinear dynamic systems
- Lyapunov stability for autonomous and non-autonomous systems
- PD control law
- Computed Torque (also adaptive)
- Passivity and PCHD systems
- Integrator backstepping, generalized backstepping, adaptive backstepping
- Optimal control
- Flatness
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