Non-linear Control Systems 2

• Dissipativity and passivity
• Backstepping rules
• Precise input state linearization (SISO)
• Precise input-output linearization (SISO)
• Draft regulation
• Slave control with observer
• Precise linearization (MIMO) and decoupling

• Supplement 1 (Integrator backstepping)
• Supplement 2 (Backstepping for systems in knit-feedback form)
• Supplement 3 (Backstepping for systems in pure feedback form)
• Supplement 4 (regulatory standard form of LTI systems)
• Supplement 5 (State linearizability - SISO)
• Addendum 6 (Observer design for time-invariant linear systems)
• Supplement 7 (Input/Output Linearization - MIMO)

Texts marked with ** are also downloads. These downloads are intended exclusively for students and staff of the TU Ilmenau. You will be asked for your login.

• exercise sheet 1
• exercise sheet 2
• Exercise sheet 3
• Exercise sheet 4
• Exercise sheet 5
• Exercise sheet 6
• Exercise sheet 7 (simulations**)

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 Test descriptions can be found at: https://www.tu-ilmenau.de/universitaet/fakultaeten/informatik-und-automatisierung/profil/institute-und-fachgebiete/fachgebiet-regelungstechnik/lehre/praktika-versuche

• Isidori, A., Nonlinear Control Systems, Band 1, Springer, 2001
• Khalil, H., Nonlinear Systems, Prentice Hall, 1996
• Krstić, M., Kanellakopoulus, I., Kokotović, P., Nonlinear and Adaptive Control Design, Wiley, 1995
• Marino, R., Tomei, P., Nonlinear Control Design: Geometric, Adaptive and Robust, Prentice Hall, 1995
• Slotine, J.-J., Li, W., Applied Nonlinear Control, Prentice Hall, 1991