Nonlinear and Adaptive Control (Fall/Winter 2021)

Class dates: Tuesdays, 10:40-12:20
Class room: Zoom
Credit hour: 1-0-0
Web: http://www.dsl.sc.e.titech.ac.jp/lectures2021_NAC.html
Instructor: Tomohisa Hayakawa
Email: hayakawa[at]sc.e.titech.ac.jp
Office: Rm. W402, W8 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. 5		Nonlinear dynamical system theory (existence and uniqueness of solution)
2	Oct. 12		Nonlinear dynamical system theory (Lyapunov's stability theory)
3	Oct. 19		Nonlinear dynamical system theory (dissipativity theory)
4	Oct. 26		Normal form representation
5	Nov. 2		Nonlinear adaptive control (1)
6	Nov. 9		Nonlinear adaptive control (2)
7	Nov. 16		Summary and follow-up
	Nov. 30		FINAL EXAM
Past exams
Exam2007	Exam2008	Exam2009	Exam2010
Exam2012	Exam2013	Exam2014	Exam2015
Exam2016	Exam2017	Exam2018	Exam2019

References:

1. Nonlinear Systems, H. K. Khalil, Prentice Hall, 2001.
2. Applied Nonlinear Control, J.-J. Slotine and W. Li, Prentice Hall, 1990.
3. Nonlinear Dynamical Systems and Control, W. M. Haddad and V. Chellaboina, Princeton Univ. Press, 2008.

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

Announcements: