EL 8223 Applied Nonlinear Control

Description:

Stability and stabilization for nonlinear systems; Lyapunov stability and functions, input-output stability, and control Lyapunov functions. Differential geometric approaches for analysis and control of nonlinear systems: controllability, observability, feedback linearization, normal form, inverse dynamics, stabilization, tracking, and disturbance attenuation. Analytical approaches: recursive backstepping, input-to-state stability, nonlinear small-gain methods, and passivity. Output feedback designs. Various application examples for nonlinear systems including robotic and communication systems.