ADVANCED TOPICS IN CONTROL
Corso
A Padova
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Descrizione
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Tipologia
Corso
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Luogo
Padova
The evaluation of the knowledge and skills acquired is done by:
1) During the course, assigning and evaluating homeworks that are graded by the instructor and contribute to the final evaluation;
This allows to evaluate timely and in detail the learning advancement regarding both the basic notions and the design of control laws.
2) through the assignment of a final project, in which students employ the knowledge and abilities they acquired in the study and presentation to the class of a new topic, or a design problem. This allows for the evaluation of both the ability to apply what has been learned to a new topic and the proficiency in explaining what has been done.
Sedi e date
Luogo
Inizio del corso
Inizio del corso
Opinioni
Programma
1) Qualitative analysis of nonlinear systems and comparison with linear systems. Existence and uniqueness of solutions and fundamental properties. Classes of nonlinear systems;
2) Lyapunov stability theory, for both time invariant and time varying systems. Invariance principle and Barbalat's lemma for the stability of sets. Lyapunov's control functions and design of stabilizing feedback laws.
3) Elements of differential geometry: manifolds, tangent space, vector fields and dynamics on manifolds. Invariant manifolds of an equilibrium, center manifold and reduction principle.
4) Elements of geometric control, switching systems, Lie brackets and accessibility. Controllability of nonlinear systems.
5) Exact linearization techniques. Normal form and relative degree of control-affine systems. Control and stabilization via feedback linearization.
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ADVANCED TOPICS IN CONTROL