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{\large New Course:}

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{\Large AMES 207 (Spring 98)}\\[0.5cm]
{\huge \bf NONLINEAR CONTROL}
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{\Large Prof. Miroslav Krstic}\\[0.2cm]

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office:&	EBUI 1808\\
e-mail:&	{\bf krstic\@ucsd.edu}\\
phone:& 	21374\\
{\bf 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.

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{\bf Texts:}\\[-0.3cm] 
\begin{itemize}
\item H. Khalil, {\em Nonlinear Systems,} 2nd ed, Prentice Hall, 1995, ISBN 0471127329
\item  M. Krstic, I. Kanellakopoulos, and P. Kokotovic, {\em Nonlinear and Adaptive Control Design,} Wiley, 1995, ISBN 0471127329
\item Handouts to be distributed in class from: Isidori, {\em Nonlinear Control Systems,} Sontag, {\em Mathematical Control Theory,} Sepulchre-Jankovic-Kokotovic, {\em Constructive Nonlinear Control,} and Krstic-Deng, {\em Stabilization of Nonlinear Uncertain Systems.}
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{\bf Prerequisite:} AMES 207 Nonlinear Systems (Winter 98) or equivalent.

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

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

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