Scope and credits

• 2 lecture hours, 1 exercise hour (weekly)
• 5 credits

Date and place

• Rotus: annually in the winter semester
• Lecture: Tuesday 14:15 - 15:45 - IRF-108
• Exercise: Tuesday 16:00 - 17:30 (bi-weekly) IRF-111 (Retina-Pool)
• Lecture notes and schedule changes will be published in Moodle .

Registration via LSF

Course content

• Nonlinear systems: Static nonlinearities, characteristic elements, nonlinear control structures, description function, rest positions, bifurcations
• Stability: Lyapunov stability, circle criterion, Popov criterion
• Control of non-linear systems: input-output linearization, sliding-mode control, exact linearization, flatness-based follower control
• Adaptive control: Adaptive control structures, identification of dynamic systems, gain scheduling, self-adjusting controller, adaptive control with reference model

Textbooks

• Adamy: Nonlinear systems and control
• Khalil: Nonlinear Systems
• Föllinger: Nonlinear Controls I and II
• Åström, Wittenmark: Adaptive Control
• Slotine, Li: Applied Nonlinear Control