Lectures - 2019

Nonlinear and Adaptive Control (Fall/Winter 2019)


Class dates: Tuesdays, 10:45-12:15
Class room: W932
Credit hour: 1-0-0
Web: http://www.dsl.sc.e.titech.ac.jp/lectures2019_NAC.htm
Instructor: Tomohisa Hayakawa
Email: hayakawa[at]sc.e.titech.ac.jp
Office: Rm. W932, W9 Building

Description:

Theory and application of nonlinear and adaptive control systems. Discussed are methods of on-line parameter identification and adaptive control for nonlinear systems with uncertain parameters. To this end, Lyapunov stability theory and Lyapunov functions for general nonlinear systems are examined in the first half of the course.


Projected course schedule:

Lecture#
Date

Topics
Handouts
1
Oct. 1

Nonlinear dynamical system theory
(existence and uniqueness of solution)

2
Oct. 8

Nonlinear dynamical system theory
(Lyapunov's stability theory)

3
Oct.10

Nonlinear dynamical system theory
(dissipativity theory)

4
Oct.15

Normal form representation

5
Oct.29

Nonlinear adaptive control (1)

6
Nov. 6

Nonlinear adaptive control (2)

Nov. 19 or 26

FINAL EXAM

Past exams

Exam2007
Exam2008
Exam2009
Exam2010
Exam2012
Exam2013
Exam2014
Exam2015
Exam2016
Exam2017


References:

  1. Nonlinear Systems, H.K. Khalil, Prentice Hall, 2001
  2. Applied Nonlinear Control, J.-J. Slotine and Weiping Li, Prentice Hall, 1990

Grading Policy:
Assignments (30%); Final exam (70%).

Announcements: