Nonlinear Systems Control
Academic Year 2024/2025 - Teacher: Arturo BUSCARINOExpected Learning Outcomes
Knowledge and understanding
Design and realization techniques of compensators for nonlinear systems. The course includes the realization of practical and MATLAB projects.Applied knowledge and understanding
Hardware/software tools for the design and implementation of nonlinear control systems. Use of microcontrollers.
Making judgements
The student will be able to determine the suitable nonlinear control technique with respect to a specific system under consideration.
Communication skills
The student will be able to describe the strenghts and the weaknesses of each control technique. The student will be able to desribe the essential properties on the stability of nonlinear systems.
Learning skills
The student will be able to determine in the current literature books and scientific publications focusing and extending the techniques discussed during the course.
Course Structure
The course is structured in lectures and laboratory activities. If the course will be delivered in mixed or remote mode, specific variations to the course structure will be actuated in order to maintain the program as reported in the syllabus.
Detailed Course Content
The course is addressed to give the main guidelines to design nonlinear control systems. The low cost of advanced digital microcontrollers today available allows to really implement the presented techniques. In the course, applications regarding the control of nuclear fusion machines, nonlinear electromechanical systems, and aerospace phenomena will be approached. A laboratory activity based on MATLAB/SimuLink tools, DSpace boards, PicoScope boards, and microcontrollers (Arduino/STM32) will allow for practical applications during the course.
Textbook Information
1) Slotine, J. J. E., & Li, W. (1991). Applied nonlinear control (Vol. 199, No. 1). Englewood Cliffs, NJ: Prentice Hall.
2) A. Buscarino, L. Fortuna, M. Frasca, Optimal Control and Robust Control- Advanced Topics with Matlab, CRC Press, 2nd Edition, 2021.
Course Planning
| Subjects | Text References | |
|---|---|---|
| 1 | Lyapunov Theory for nonlinear systems | Testo 1, 2 |
| 2 | The search for the Lyapunov Functions | Testo 1, 2 |
| 3 | Techniques based on Lyapunov Theory to design applied control systems | Testo 1 |
| 4 | Feedback linearization of nonlinear systems (vector-field techniques) | Testo 1 |
| 5 | The problem of state-feedback linearization | Testo 1 |
| 6 | Conditions for exact feedback linearization | Testo 1 |
| 7 | The input/output feedback linearization: the SISO case and the MIMO case | Testo 1 |
| 8 | Sliding Mode Control | Testo 1 |
Learning Assessment
Learning Assessment Procedures
Examples of frequently asked questions and / or exercises
Solve the following exercise:
1) Describe the techniques of feedback linearization.
2) Check the stability of the following nonlinear system by using the Lyapunov Theory.
3) Explain the technique of sliding-mode control.