EE 587

Nonlinear Control

Fall 2000

Instructor:

Dr. Edmond A. Jonckheere,

EEB 306,

(213) 740-4457,

jonckhee@eudoxus.usc.edu.

Meeting time & place:

Wd., 6:30-9:10 p.m., Distance Education Network (DEN).

Office hours:

We., Fr., 10:00 a.m. to 12:00 noon.

Grader:

TBA.

Textbook:

Jean-Jacques Slotine and Weiping Li,

Applied Nonlinear Control,

Prentice Hall, 1991.

ISBN: 0-13-040890

Supplemental (recommended) text:

Romeo Ortega, Antonio Loria, Per Johan Nicklasson, and Hebertt Sira-Ramirez,

Passivity Based Control of Euler-Lagrange Systems,

Springer, 1998.

ISBN: 1-85233-016-3

Homework:

One homework per week, assigned on Wd., due the following Wd.

Exams:

• One midterm
• One final

Prerequisites:

Basic linear feedback control (EE482), good working knowledge of linear algebra (EE441), Fourier series and transforms, and Laplace transforms.

Weight:

Homeworks	20%
Midterm	30%
Final	50%
Total	100%

Course Summary:

Topics	Chapters in Slotine & Wei	Chapters in Ortega et al.	Time table
Fundamental facts about nonlinear systems: phase space, equilibrium points, graphical methods, including elementary Lyapunov theory.	1, 2, 3		Sept. 2000
Input/Output stability analysis: Hilbert and Banach spaces of signals, passivity and related concepts, the circle criterion, the Popov criterion, and the describing function.	4, 5	A	Sept. & Oct. 2000
Differential geometric control: manifolds, Lie groups, Lie algebra, Lie bracket, nonlinear controllability, linearization method; Linear Dynamically Varying (LDV) control with application to reconfigurable control of X-33.	6		Oct. 2000
Lagrangian and Hamiltonian methods: Lagrange, Euler, and Hamilton equations of motion, Lagrangian control and related dissipativity concepts, with application to robot control.	9.3, 9.4	1, 2, 3, D	Oct. & Dec. 2000