Nonlinear Control Systems (NCS)5 ECTS
(englische Bezeichnung: Nonlinear Control Systems)
(Prüfungsordnungsmodul: Nonlinear Control Systems)

Lectures:

• • Nonlinear Control Systems
    (Vorlesung, 3 SWS, Knut Graichen, Thu, 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.)
  • Exercises for Nonlinear Control Systems
    (Übung, 1 SWS, Daniel Landgraf, Fri, 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.)

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
  

Verwendbarkeit des Moduls / Einpassung in den Musterstudienplan:

1. Artificial Intelligence (Master of Science)
   (Po-Vers. 2021s | TechFak | Artificial Intelligence (Master of Science) | Gesamtkonto | Nebenfach | Nebenfach Elektrotechnik, Elektronik und Informationstechnik | Robotics and automation | Nonlinear Control Systems)

Studien-/Prüfungsleistungen:

Nonlinear Control Systems (Prüfungsnummer: 25291)

Prüfungsleistung, Klausur, Dauer (in Minuten): 90, benotet, 5 ECTS

Anteil an der Berechnung der Modulnote: 100.0 %

Erstablegung: SS 2022, 1. Wdh.: WS 2022/2023

1. Prüfer:

Knut Graichen