Inhalt
[ 481VRTRRTNU22 ] UE Control Theory for Nonlinear Systems
|
|
|
|
| (*) Unfortunately this information is not available in english. |
 |
| 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 2026W |
| Learning Outcomes |
Competences |
| Students are able to analyze system and control theoretic properties of nonlinear systems using advanced mathematical methods and, based on this, to design controllers and carry out stability analyses
|
|
| Skills |
Knowledge |
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)
|
- 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
|
|
| Criteria for evaluation |
Homework and/or written exam
|
| Methods |
Blackboard and slide presentation, use of modern software tools
|
| Language |
German |
| Study material |
JKU KUSSS and/or Moodle
|
| Changing subject? |
No |
| Further information |
The courses VL Control Theory for Nonlinear Systems and UE Control Theory for Nonlinear Systems form an inseparable didactic unit. The learning outcomes described below are achieved through the interaction of the two courses
|
| 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 |
|
|
|
