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Regelung nichtlinearer Systeme (RNS)5 ECTS (englische Bezeichnung: Control of Nonlinear Systems)
Modulverantwortliche/r: Knut Graichen Lehrende:
Knut Graichen
Startsemester: |
SS 2022 | Dauer: |
1 Semester | Turnus: |
jährlich (SS) |
Präsenzzeit: |
60 Std. | Eigenstudium: |
90 Std. | Sprache: |
Englisch |
Lehrveranstaltungen:
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Exercises for Nonlinear Control Systems
(Übung, 1 SWS, Daniel Landgraf, Fr, 8:15 - 9:45, 04.023; Every 14 days alternating with practice. The course is planned as a face-to-face event. Interested participants please register via StudOn, where you will also be informed about any date/mode changes.)
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Nonlinear Control Systems
(Vorlesung, 3 SWS, Knut Graichen, Do, 10:15 - 11:45, 04.023; Every 14 days alternating with practice. The course is planned as a face-to-face event. Interested participants please register via StudOn, where you will also be informed about any date/mode changes.)
Empfohlene Voraussetzungen:
Basic knowledge of advanced mathematics
Linear control theory (state space methods), e.g. “Regelungstechnik B”
Inhalt:
Many control problems are nonlinear by nature. Classical control methods are based on linear approximations or a linearization of these systems in the neighborhood of setpoints to be controlled. In contrast to linear control theory, this module focuses on advanced nonlinear methods for the analysis and control of nonlinear systems by exploiting structural properties. In summary, the course covers the following topics:
Examples of nonlinear physical systems and nonlinear phenomena
Introduction to computer algebra software
Analysis of nonlinear systems
Stability of nonlinear systems (Lyapunov stability)
Lyapunov-bases control design (Backstepping)
Reachability/controllability and observability of nonlinear systems
Exact linearization via feedback
Differential flatness of nonlinear systems
Flatness-based feedforward and feedback control of nonlinear systems
Lernziele und Kompetenzen:
After successful completion of the module, students will be able to
describe and analyze nonlinear systems
determine the input/output behavior of nonlinear systems
design nonlinear state feedback controllers via exact input-output and input-state linearization
apply the concept of differential flatness for the feedforward feedback control of nonlinear systems
use computer algebra software for the analysis and control design of nonlinear systems
Literatur:
- H.K. Khalil. Nonlinear Systems, Prentice Hall, 2002
S. Sastry. Nonlinear Systems, Springer, 1999
A. Isidori. Nonlinear Control Systems, Springer, 3. Auflage, 1995
J. Adamy. Nichtlineare Regelungen, Springer, 2009
J.-J. Slotine, W. Li. Applied Nonlinear Control, Prentice Hall, 1991
M. Vidyasagar. Nonlinear Systems Analysis, Prentice Hall, 2. Auflage, 1993
M. Krstic, I. Kanellakopoulos, P. Kokotovic. Nonlinear and Adaptive Control Design, John Wiley & Sons, 1995
Studien-/Prüfungsleistungen:
Regelung nichtlinearer Systeme (Prüfungsnummer: 36801)
(englischer Titel: Control of nonlinear systems)
- Prüfungsleistung, Klausur, Dauer (in Minuten): 90, benotet, 5 ECTS
- Anteil an der Berechnung der Modulnote: 100.0 %
- Prüfungssprache: Englisch
- Erstablegung: SS 2022, 1. Wdh.: WS 2022/2023
- Termin: 26.09.2022
Termin: 26.09.2022
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