Physical systems encountered in the manufacturing, process or automotive industry generally exhibit nonlinear dynamics. If the nonlinear effects are dominant, the well-established linear control design techniques that are based on a linearization of the nonlinear dynamics are not applicable. To address the case of dominant nonlinear dynamics, this course offers analysis and design techniques for nonlinear systems with an emphasis on nonlinear control systems.
The aim of the course is to convey analysis and design techniques for nonlinear control systems. The system analysis includes the phase-plane representation, Lyapunov stability and passivity. Considering the nonlinear controller design, the exact input-ouput linearization, flatness-based control, backstepping and passivity-based control are addressed.