MAE 281A -
Nonlinear Systems (Winter 2016)
Course web
address: http://flyingv.ucsd.edu/krstic/teaching/281a/281a.html
Instructor: Prof. Miroslav Krstic, 1808 EBUI, 822-1374,
krstic@ucsd.edu
Texts:
·
Khalil, Nonlinear Systems, Prentice Hall, 2001.
·
(supplemental)
Krstic, Kanellakopoulos, and Kokotovic,
Nonlinear and Adaptive Control Design,
Wiley, 1995.
Prerequisites: Linear Systems
(MAE 280A) or consent of instructor
Time and
Place: TuTh, 8:00-9:20 am, EBU2
584
Cancelled classes: January 13 and 15
Make up classes: Jan 6 (Tue, first day of classes), Jan 22 (Thu), Jan 29 (Thu),
at 9:30-10:50 in EBU2 Rm 584
Office Hours: F, 2-3 pm
Final Exam: Thursday, March
19, 8:00-11:00
Grading:
Homework (pdf)
30%
Final 70%
Course Objective: The course will
give the students an in-depth introduction to stability and other analysis
techniques for nonlinear systems and prepare them for courses on nonlinear
control design (MAE 281B) and adaptive control (MAE 282, alternate years). Students
from all departments are welcome.
Topics: Existence and
uniqueness of solutions of ODEs, sensitivity equations. Stability,
direct and converse Lyapunov theorems, LaSalle's
theorem, linearization, invariance theorems. Center
manifold theorem. Stability of perturbed systems with
vanishing and non-vanishing perturbations, input-to-state ability, comparison
method. Input-output stability. Perturbation theory
and averaging. Singular perturbations. Circle and
Popov criteria.
Homework Solutions: