MEM 636/637/638 Nonlinear Control Theory

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Text Book: Harry G. Kwatny & Gilmer L. Blankenship, Nonlinear Control and Analytical Mechanics: a computational approach, Birkhauser 2000.

Software: Book comes with a set of Mathematica notebooks and packages (ProPac V 2.0). Students can purchase full function Mathematica for personal use at reduced price. Download  ProPac V4.2 - it is required for Mathematica 6.0 and above)

Syllabus

Lectures

Lecture 1a Slides

Lecture 1b Slides        

Lecture 2 Slides 

Lecture 3 Slides           

Lecture 4 Slides           

Lecture 4a Slides

Lecture 5 Slides           

Lecture 6 Slides

Lecture 7 Slides Intro to Part 2

Lecture 8 Slides

Lecture 9 Slides

Lecture 9b Slides Intro to Discontinuous Systems

Lecture 10 Slides Intro to Variable Structure Control

Lecture 11 Slides         

Lecture 12 Slides       

Lecture 13 Slides

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Homework

Problem Set 1 Problem Set 2

Paper Review Project

Fall Final Project

Winter Final Project

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Notebooks

Inverted Pendulum

Wheelset

Wheelset Simulation(Simulink)