Control and observation for nonlinear systems
This course provides a rigorous introduction to the analysis and design of control systems for nonlinear dynamics, with a focus on both state feedback and output feedback techniques. Key topics include classical ones as feedback linearization, flatness-based control, backstepping and sliding mode. The course also addresses observability in nonlinear systems, introducing tools such as the Extended Kalman Filter and advanced observer designs. Modern nonlinear design methods such as feedforward and passivity-based control are also covered. The course combines theoretical foundations with practical methodologies to equip students with versatile tools for nonlinear system control. Examples from mechanical systems and electrical systems will be provided.
Course content
- Fundamentals and Motivation – Nonlinear system behavior, stabilization and tracking, gain scheduling approaches.
- Feedback Linearization and Flatness – Input–output linearization, zero dynamics, and flatness-based control design.
- Observability and State Estimation – Nonlinear observability concepts, Extended Kalman Filter, and KKL observers.
- Output Feedback and Advanced Observer Design – High-gain and sliding-mode observers for control implementation.
- Modern Nonlinear Control Techniques – Backstepping, feedforward, passivity-based, and adaptive control methods.
References
- Khalil, H. K. (2002). Nonlinear Systems (3rd ed.). Upper Saddle River, NJ: Prentice Hall.
- Isidori, A. (1995). Nonlinear Control Systems (3rd ed.). London, UK: Springer-Verlag.
- Slotine, J.-J. E., \& Li, W. (1991). Applied Nonlinear Control. Englewood Cliffs, NJ: Prentice Hall.
