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New Course:

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{\large AMES 207 (Spring 98)}\\
{\huge \bf NONLINEAR CONTROL}
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{\Large Prof. Miroslav Krstic}\\
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office:&	EBUI 1808
\\
e-mail:&	{\bf krstic\@ucsd.edu}\\
phone:& 	21374\\
web:&   	{\bf http://www-ames.ucsd.edu/research/krstic}
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{\bf Topics:} Circle and Popov criteria, small gain theorem, passivity. Describing functions. Nonlinear controllability, feedback linearization, input-state and input-output linearization, zero dynamics. Stabilization, Brockett's necessary conditions for local stabilizability, control Lyapunov functions, Sontag's formula for global stabilization. Methods for design of control Lyapunov functions and stabilization: integrator backstepping, forwarding. Inverse optimality and stability margins. Disturbance attenuation for nonlinear systems, deterministic and stochastic, nonlinear H-infinity control. Adaptive nonlinear control, tuning functions method, extremum seeking. Nonlinear observers. Examples from robotics, satellite and underwater vehicles, compressors and combustion, biotechnology.


{\bf Texts:}\\ 
* H. Khalil, Nonlinear Systems, 2nd ed, Prentice Hall, 1995, ISBN 0471127329\\
* M. Krstic, I. Kanellakopoulos, and P. Kokotovic, Nonlinear and Adaptive Control Design, Wiley, 1995, ISBN 0471127329\\
* Handouts to be distributed in class from: Isidori, Nonlinear Control Systems, Sontag, Mathematical Control Theory, Sepulchre-Jankovic-Kokotovic, Constructive Nonlinear Control, and Krstic-Deng, Stabilization of Nonlinear Uncertain Systems.

{\bf Prerequisite:} AMES 207 Nonlinear Systems (Winter 98) or equivalent.

{\bf Time and Place:} TTH 5:30-6:50, HSS 2305A

{\bf Office Hours:} M 5-6 or by appointment (e-mail, phone)

{\bf Grading:} 35\% homework, 30\% midterm, 35\% final
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