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 9c Slides Adaptive Linear Families

Lecture 10 Slides Intro to Variable Structure Control

Lecture 11 Slides         

Lecture 12 Slides       

Lecture 13 Slides


Reading

On Governors, Maxwell 1868

LQR, Kalman & Bucy 1961

Robust Adaptive Control, Nguyen 2012

Homework

Problem Set 1, Due Oct 23 Problem Set 2, Due Oct 30

Paper Review Project

Fall Final Project, Due Dec. 13

Winter Project 1, Due Feb. 26

Winter Project 2, Due March 12

Winter Final Project


Notebooks

Inverted Pendulum

Wheelset

Wheelset Simulation(Simulink)