Syllabus

University of California at Berkeley
Mechanical Engineering

ME 237

Control of Nonlinear Dynamic Systems
Spring 2008
TuTh 3:30-5:00
9 Evans Hall

Instructor:
Prof. J. Karl Hedrick
5104 Etcheverry Hall
Office Hours:TuTh 2:00-3:00, or by appointment (email)
Email: khedrick@me.berkeley.edu

Lecture:
Tu Th, 3:30 - 5:00, 9 Evans Halll

Discussion: Wednesday 3 - 4 pm
Place: 3107 Etcheverry Hall

GSI: Giovanni Gonzalez
2117 Etcheverry Hall.
Office Hours: Tuesday 11-12 pm

Recommended Reading

(Most on reserve at Kresge Engineering Library)

Slotine, J.J., and Li. W.P., Applied Nonlinear Control, Prentice-Hall, 1991 (SL)

Khalil, H., Nonlinear Systems, 3nd Ed., Macmillan, 2002 (K)

Isidori, A., Nonlinear Control Systems, 2nd Ed., Springer, 1989 (I)

Nijmeijer and Van der Schaft, Nonlinear Dynamical Control Systems, 1989 (NV)

Graham and McRuer, Analysis of Nonlinear Control Systems, Dover Press, 1971 (GM)

Guckenheimer and Holmes, Nonlinear Oscillations, Dynamical Systems, and Bifurcation of Vector Fields, Springer-Verlag, 1983 (GH)

Gelb and VanderVelde, MIMO Describing Functions and Nonlinear System Design, McGraw-Hill, 1968 (GV)

ME237

Control of nonlinear dynamic systems

SPRING 2008

Week:            1, 2
Introduction, General properties of linear and nonlinear systems, Phase Plane Analysis,
Equilibrium finding
Bib: SL, GM

Week:            3
Qualitative Analysis of Nonlinear Systems,
The Center Manifold theorem
Bib: GH

Week:           4
Controllability & Observability of Nonlinear Systems           
Bib: I, NV, SL

Week:   5,6,7
Stability of Nonlinear Systems:           

• Lyapunov Theorems
• Frequency Domain Criteria
• Small Gain Theorem

Bib:K, SL

Week:   8,9
Feedback Linearization
Bib: SL

Week:   10,11,12,13
Sliding Control Theory

• SISO
• MIMO
• Adaptive
• Discrete, Bib:class notes
• A unified design methodology Bib:class notes

Bib: SL

Week:   14
Nonlinear Observers

• Lyapunov
• Geometric
• Sliding
• Compensators

Bib: class notes

Week:   15
Describing Functions
Bib:GM, GV, SL

                        GRADING     6 homework sets             (20%)
                                                1 term project                 (40%)
                                                1 oral exam                     (40%)

                                                Term Project due:            End of semester
                                                Oral Final:                       End of Semester