EECS 662/AEROSP 672 - Advanced Nonlinear Control

Instructor: Del Vecchio, Domitilla

Tu,Th 10:30-12

3 credits

Assumed Background: EECS 562 and MATLAB. The mathematical level is similar to that of EECS 562. The material is certainly accessible to anyone who has completed EECS 562.

This course is a natural continuation of EECS 562. There is more emphasis on feedback control, and less emphasis on stability analysis. The term will start with geometric methods, with an emphasis on single-input systems in order to keep the math relatively simple. After this, we will take up some very rich classical ideas on qualitative methods of nonlinear system analysis, namely, averaging and singular perturbations. Initially, we will think of this as a model-reduction technique for nonlinear systems, but later in the term it will be a means of analyzing high gain control in observer and feedback designs. From there, we will move on to an overview of observer design for nonlinear systems. The Center Manifold Theorem will help us to establish a weak separation theorem for nonlinear controller and observer design.  We will then cover some special topics.