Non-linear Control Systems 1

• Mathematical principles
• Nonlinear dynamic systems as initial value problem
• Existence and questions of unambiguity
• Stability analysis in the phase level
• Stability concept and stability analysis according to Lyapunov
• Controller design with the help of Lyapunov theory

• Supplement 1 (Vector spaces)
• Supplement 2 (Separatrix)
• Supplement 3 (limit quantities and limit cycles)
• Supplement 4 (Third Order Systems - Chaos)
• Supplement 5 (attractiveness and stability)
• Supplement 6 (Variable gradient method)
• Supplement 7 (Global stability)
• Supplement 8 (Zubov's method)
• Supplement 9 (Robotic equation)
• Supplement 10 (Adaptive slave control)

• exercise sheet 1
• Exercise sheet 2Phase portraits Task 4
• Exercise sheet 3
• Exercise sheet 4
• Practice sheet 5
• Exercise sheet 6Simulations Task 2
• Exercise sheet 7Simulations Exercise sheet 7
• Practice sheet (extra)

For students from PO/StO 2013 onwards, an internship is planned. The whole course will then have a total of 5 LP. The practical course consists of two attempts.

Registrations can be made at: https://www1.tu-ilmenau.de/fg-rt-prakt/index.php Descriptions of the experiments can be found at: https://www.tu-ilmenau.de/universitaet/fakultaeten/informatik-und-automatisierung/profil/institute-und-fachgebiete/fachgebiet-regelungstechnik/lehre/praktika-versuche

• practice exam 1
• Practice Test 2 (Sun 16)
• practice exam 3 (Wi 17)
• Practice exam 4 (Sun 17)
• Practice exam 5 (Wi 18)
• Practice exam 6 (Sun 18)
• Practice exam 7 (Wi 19)
• Practice exam 8 (Sun 19)
• Practice exam 9 (So 20)

• Khalil, H., Nonlinear Systems, Prentice Hall, 1996
• Slotine, J.-J., Li, W., Applied Nonlinear Control, Prentice Hall, 1991
• Sontag, E., Mathematical Control Theory, Springer, 1998
• Spong, M., Hutchinson, S., Vidyasagar, M., Robot Modeling and Control, Wiley, 2005
• Vidyasagar, M., Nonlinear Systems Analysis, SIAM, 2002