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Course Information

Course Name
Turkish Nonlineer Sistemlerimin Dinamiği ve Kontrolü
English Dynamics and Control of Nonlinear Systems
Course Code
UUM 618E Credit Lecture
Semester -
3 3 - -
Course Language English
Course Coordinator Gökhan İnalhan
Course Objectives This is a Ph.D. Level course on nonlinear dynamics and introduction to nonlinear controls. This course is modelled using University of California Berkeley EE222 and Stanford University EE209A courses.
Course Description Introduction to Nonlinear Phenomena: Multiple Equilibria, Limit Cycles, Complex Dynamics, Bifurcations
Second Order Nonlinear Systems: Phase Plane Techniques, Limit Cycles - Poincare-Bendixson Theory, Index Theory
Input-output analysis and stability: Small Gain Theorem, Passivity, Describing Functions
Lyapunov Stability Theory: Basic stability and instability theorems, LaSalle's theorem, Indirect method of Lyapunov
Nonlinear Control: Linearization by State Feedback for SISO and MIMO systems, Involutivity, Lie Brackets, Frobenius' Theorem, Zero Dynamics, Inversion, Tracking, Stabilization
Course Outcomes
Pre-requisite(s) Graduate Level Engineering Mathematics, Linear Control, Real Analysis
Required Facilities
Textbook The course is based on a set of lecture notes which will be made available throughout the term.
The textbook for the course is:
S. S. Sastry. Nonlinear Systems: Analysis, Stability, and Control. Springer-Verlag, 1999. We will be covering topics from Chapters 1, 2, 5, 9, 10, and selected topics from Chapters 3, 4, and 6.
Other References J.-J. Slotine, W. Li, Applied Nonlinear Control, Prentice Hall, Englewood Cliffs, N.J. 1991.
H.K. Khalil, Nonlinear Systems, Prentice Hall, Upper Saddle River, NJ, 2002.
M. Vidyasagar, Nonlinear Systems Analysis, Prentice Hall, Englewood Cliffs, NJ, 1993.
H. J. Marquez, , Nonlinear Control Systems: Analysis and Design, J. Wiley, Hoboken, N.J. 2003.
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