course: Nonlinear Dynamical Systems - Analysis and Controller Synthesis
- teaching methods:
- lecture with tutorials
- overhead transparencies, Moodle, black board and chalk
- responsible person:
- Prof. Dr.-Ing. Jan Lunze
- Dr.-Ing. Jan Richter (extern), M. Sc. Philipp Welz (ETIT)
- offered in:
All statements pertaining to examination modalities (for the summer/winter term of 2020) are given with reservations. Changes due to new requirements from the university will be announced as soon as possible.
Date according to prior agreement with lecturer.
|Form of exam:||oral|
|Registration for exam:||FlexNow|
This course complements the lectures on systems, dynamics and control of linear dynamical systems by introducing theory for nonlinear dynamical systems. The linear point of view, which is valid around narrow operating points, excludes the study of transient behavior that ranges over the entire operating region. Large transients arise, for example, due to startup and shutdown procedures, due to changes of the operating point, and due to faults and failures that cause an undesired departure from the desired regime of operation. The mentioned phenomena dominate virtually all applications. Therefore, students have gained competence in this area, which is conveyed in this course, with the detailed contents as follows.
- Introduction to nonlinear systems
- Graphical Analysis of First-Order and Second-Order Dynamical Systems
- Stability of autonomous nonlinear systems: Lyapunov theory
- Stability of nonlinear systems with inputs
- Passivity-based control of Lure systems
- Feedback linearisation
- Differential flatness
- Piecewise affine systems
- Observers for nonlinear systems
- Stochastic filters for nonlinear systems
- Contents of the lectures
- System Dynamics and Control Design
- Multivariable Systems and Digital Control
- Adamy, Jürgen "Nichtlineare Regelungen", Springer Verlag, 2009
- Khalil, Hassan K. "Nonlinear Systems", Prentice Hall, 2002
- Sastry, Shankar "Nonlinear Systems - Analysis, Stability, and Control (Interdisciplinary Applied Mathematics)", Springer Verlag, 1999
Further information on the lecture and the course materials can be found on the website of the chair ATP (www.atp.rub.de <http://www.atp.rub.de> _) or in the Moodle course.