Course Details

Course details of EE6419
Course NoEE6419
Course TitleGeometric Nonlinear Control Theory
Course ContentIntroduction. What is a nonlinear system? Characteristic examples. Limitations of linearization. Nonlinear input-output maps. Mathematical Preliminaries: Vector spaces, Functions on Euclidean spaces, Differentiation, Manifolds, Tangent spaces, vector fields.Controllability and observability. Lie brackets; rank conditions, relations with controllability and observability of linearized systems, examples. State space transformations and feedback. State feedback, feedback linearization, computed torque control of robot manipulators, observer design, and examples.Stability and stabilization. Stabilization and linearization, stabilization of non-controllable critical eigenvalues, zero dynamics and decoupling problems with stability, passivity-based control, discontinuous feedback, examples.
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