INTRODUCTION TO NONLINEAR CONTROL DESIGN
This course is devoted to lyapunov-based control design for nonlinear dynamical systems. Mainly, this course is developed as an introduction to nonlinear control. In the beginning, the course will emphasize the drawbacks of linearization and richness of nonlinear phenomena compared to linear dynamics. A brief introduction to study qualitative behavior of linear and nonlinear systems using phase portraits will also be provided. These topics will be used as motivations for this course where main topics include: lyapunov stability analysis for autonomous and nonautonomous systems, input-output stability, barbalat's lemma, feedback linearization, and nonlinear control design tools such as lyapunov redesign, sliding mode control, integrator backstepping, and other robust and adaptive control methods. If time allows, we will cover nonlinear control design methods for dynamical systems with delays. The content will be mathematical supplemented with application examples taken from robotics and human musculoskeletal system. Prerequisites for the course include an understanding of undergraduate calculus, linear algebra, and linear control methods (ME 2045). Students are also expected to be able to use some simulation software (e.g. Matlab).