Nonlinear Control

Module code: EG7040

This module will describe advanced procedures for the design of nonlinear controllers for nonlinear systems. There will be a structured series of lectures, laboratory and exercise classes followed by a design study. As in the previous related modules, the software package Matlab and its accompanying tool-boxes will be used extensively.

Topics covered

Development of tools for nonlinear system analysis including:

  • the design of feedback linearising controllers
  • describing function analysis
  • an introduction to passivity theory

Nonlinear control system design methods including:

  • the design and inherent advantages of variable structure control systems
  • sliding mode control theory and an assessment of its inherent robustness properties
  • constructive Lyapunov design methods

Case studies will include the development of nonlinear controllers for a two link robot manipulator and various electric motors.

Learning

  • 22 hours of lectures
  • 128 hours of guided independent study

Assessment

  • Exam, two hours (67%)
  • Test, one hour (33%)