MEM 636/637/638 Nonlinear Control Theory
Text Book: Harry G. Kwatny & Gilmer L. Blankenship, Nonlinear Control and Analytical Mechanics: a computational approach, Birkhauser 2000.
Text Book: Draft 2nd Ed
Software: The book came with a set of Mathematica notebooks and packages (ProPac V 2.0). Students can purchase full function Mathematica for personal use at reduced price. Download ProPac V5.3 - it is required for Mathematica 8.0 and above)
Lectures
Lecture 1 Introductionmp4 download
Lecture 2 Lyapunov Stability mp4 download
Lecture 6 Feedback Linearization
Lecture 09 Variable Structure Control Preliminaries
Lecture 10 Variable Structure Control Sliding Modes
Lecture 11 Intro to Variable Structure Control Design
Lecture 12 VS - Mechanical Systems
Lecture 13 VS - Electric Motors
Lecture 14 VS - Disturbance Rejection
Lecture 15 VS - Power Plant Example
Lecture 16 VS - Disturbance Rejection
Lecture 17 Hybrid Systems Introduction
Lecture 19 Hybrid Optimal Control
Lecture 20 Hybrid-Aircraft Landing Safety
Reading
On Governors, Maxwell 1868
LQR, Kalman & Bucy 1961
WMR Control Oriolo et al 2002
Inverted Pendulum Ibanez et al 2005
Wheeled Inverted Pendulum Pathak et al 2005
Nonholonomic Mobile Robot Sankaranarayanan & Mahindrakar 2009
Mathematical Analysis of the Parallel Parking Problem Allen 1960
Symbolic Computing Tools for Nonsmooth Dynamcis and Control Teolis Kwatny Mattice 1999
On Brockett's Theorem ..... Ryan 1994
Homework
Problem Set 1, Due Oct 26 Problem Set 2, Due Nov 9