Search programme

​Use the search function to search amongst programmes at Chalmers. The study programme and the study programme syllabus relating to your studies are generally from the academic year you began your studies.

Syllabus for

Academic year
ESS076 - Nonlinear and adaptive control
 
Syllabus adopted 2015-02-17 by Head of Programme (or corresponding)
Owner: MPSYS
7,5 Credits
Grading: TH - Five, Four, Three, Not passed
Education cycle: Second-cycle
Major subject: Automation and Mechatronics Engineering, Electrical Engineering
Department: 32 - ELECTRICAL ENGINEERING


Teaching language: English
Open for exchange students
Block schedule: A

Course module   Credit distribution   Examination dates
Sp1 Sp2 Sp3 Sp4 Summer course No Sp
0107 Examination 5,0 c Grading: TH   5,0 c   26 Oct 2015 pm H,  04 Jan 2016 pm M,  25 Aug 2016 am M
0207 Laboratory 2,5 c Grading: UG   2,5 c    

In programs

MPEPO ELECTRIC POWER ENGINEERING, MSC PROGR, Year 2 (elective)
MPSYS SYSTEMS, CONTROL AND MECHATRONICS, MSC PROGR, Year 1 (compulsory elective)
MPSYS SYSTEMS, CONTROL AND MECHATRONICS, MSC PROGR, Year 2 (elective)

Examiner:

Professor  Bo Egardt
Bitr professor  Torsten Wik


Replaces

ESS075   Nonlinear and adaptive control


Eligibility:


In order to be eligible for a second cycle course the applicant needs to fulfil the general and specific entry requirements of the programme that owns the course. (If the second cycle course is owned by a first cycle programme, second cycle entry requirements apply.)
Exemption from the eligibility requirement: Applicants enrolled in a programme at Chalmers where the course is included in the study programme are exempted from fulfilling these requirements.

Course specific prerequisites

A basic course in automatic control and familiarity with state space techniques (as taught in e.g. the course Linear control system design)

Aim

The purpose of this course is to introduce fundamental techniques to solve industrial control problems, for which linear models are insufficient or difficult to obtain from physical data. The purpose of the course is also to introduce modern software tools to support the analysis and synthesis of nonlinear control systems.

Learning outcomes (after completion of the course the student should be able to)

  • Understand and explain the limitations of linear control methods, and discuss the practical implications of this
  • Identify and describe the most important phenomena in nonlinear dynamical system
  • Describe a few applications where nonlinear dynamics is an essential ingredient in the system design
  • Analyse the stability properties of nonlinear systems
  • Apply a few methods for nonlinear control system design and to assess the performance of the resulting design
  • Use software tools for analysis and synthesis of nonlinear control systems, and to present and motivate their solutions
  • Understand the basic principles for optimal and adaptive control and be able to solve simple problems

Content

The course is comprised of three main blocks: 
  • Analysis of nonlinear systems:
    Common nonlinearities. Phase plane analysis. Stationary points and limit cycles. Stability. Lyapunov's method. Input-output-methods. Small gain theorem and the circle criterion. Passivity. Describing function. 
  • Design of nonlinear control systems:
    Gain scheduling. Synthesis using stability theory. Exact linearization. Optimal control. Pontryagin's maximum principle. Bang-bang control. 
  • Adaptive control:
    Principles for adaptive control. Model reference adaptive systems. Separation of identification and control. Self-tuning regulators.

Organisation

The course is organised as a number of lectures and problem sessions, and a mandatory project module, including analysis and design assignments.

Literature

T. Glad, L. Ljung: Control theory ¿ multivariable and nonlinear methods. Recommended course book.

J.J.E. Slotine and W. Li, Applied nonlinear control. Alternative textbook.

Examination

Written exam with TH grading; project with assignments and laboratory sessions (pass/fail).


Page manager Published: Mon 28 Nov 2016.