Nonlinear Systems and Control (227-0207)

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ANNOUNCEMENTS

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• On Friday 24.02.2023, the lecture starts at 13:15 instead of 12:15.

• The lecture and exercise sessions take place in ML E 12.

ORGANISATION

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Lecturers:

• Dr. E. Gallestey,
  Global Technical Director,
  Honeywell International


• Dr. P. Al-Hokayem,
  Drive System Expert,
  ABB Switzerland Ltd

Assistants: Anil Parsi, Raffaele Soloperto, Aren Karapetyan, Automatic Control Laboratory, ETH Zurich

Final Exam:

• No Testat is required
• Written exam: 2 hours, mixture of theory and exercises
• Language (exam and course): English

Semester: Spring 2023

FURTHER INFORMATION

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Schedule

• Exercises: Friday 12:15-13:00
• Lectures: Friday 13:15-16:00

Lecture Notes for Spring 2023

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You will find the latest version of the lecture notes on the Moodle webpage.

We are constantly working to improve the lecture notes. If you find any errors, or typos, please contact us!

Schedule for Spring 2023

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Date	Lectures
24.02.2023	Intro limit cycles and bifurcations
03.03.2023	Local and Global Existence and Uniqueness of ODE Systems
10.03.2023	Lyapunov I
17.03.2023	Lyapunov II
24.03.2023	Dissipativity
31.03.2023	Linearization, Integral Control and Gain Scheduling
21.04.2023	Feedback Linearization
28.04.2023	Sliding Mode Control
05.05.2023	Optimal Control
12.05.2023	SDRE, nonlinear H–infinity control
19.05.2023	Nonlinear MPC
26.05.2023	State Estimation
02.06.2023	Review Session

Course material source

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The course material can be found in the following reference books:

• "Mathematical System Theory", D. Hinrichsen and A. Pritchard
  • Phase Portraints, Robustness of Linear Systems
  • Mathematical Modelling
• "Nonlinear Systems", H. Khalil
  • ODE Theory
  • Lyapunov Stability
  • Linearization and Gain Scheduling
  • Feedback Linearization
  • Sliding Model Control
• "Optimal Control", Frank Lewis and Vassilis Syrmos
  • Pontryagin Maximum Principle
  • Dynamic Programming
• "Optimal Control and Estimation", Robert Stengel
  • Kalman Filter
  • Extended Kalman Filter
  • Parameter Estimation
• "Applied Nonlinear Control", Jean-Jaques Slotine and Weiping Li
  • Sliding Mode Control
  • Adaptive Control

Further references:

• J. W. Helton and M. R. James. A general framework for extending H–infinity control to nonlinear systems. SIAM, 1998.
• A. Isidori. Nonlinear control systems. Springer-Verlag, 3rd edition, 1995.
• James Cloutier. Nonlinear regulation and nonlinear H–infinity control via the state dependent Riccati equation technique Proceedings of First International Conference on Nonlinear Problems in Aviation and Aerospace, Florida, May, 1996.
• C. Mracek. Control designs for the nonlinear benchmark problem via the SDRE method. International Journal of Robust and Nonlinear Control, (8) 401 – 433, 1998.
• A. van der Schaft. L2–Gain and Passivity Techniques in Nonlinear Control, Springer-Verlag, London, 2000.
• J. Willems. Dissipative dynamical systems – Part I: General theory Archive for Rational Mechanics and Analysis,, (45):321–351, 1972.