University of California at Berkeley
Department of Electrical Engineering and Computer Sciences
EE C222/ ME C237
Spring Semester 2018
UCB On-Line Course Catalog and Schedule of Classes
Lecture Information: Mondays and Wednesdays, 2:00 pm - 3:30 pm, Cory 521.
Dr. Murat Arcak,
569 Cory Hall
arcak at berkeley.edu
Office Hours: Tuesdays 2:30-3:30 pm, 569 Cory
bCourses will be used for announcements, lecture notes, assignments, grades, and solutions to tests and homework sets.
Lecture notes will be provided. The following books are recommended for reference:
S. Sastry, Nonlinear Systems: Analysis, Stability and Control, Springer, 1999.
H.K. Khalil, Nonlinear Systems, Prentice Hall, 3rd edition, 2002.
Homework: 30 points. Midterm: 30 points. Final: 40 points.
Course Outline and Lecture Notes
Fundamental Properties of Nonlinear Systems:
Nonlinear phenomena and examples, planar systems, bifurcations, existence and uniqueness theorems.
Lyapunov Stability Theory:
Lyapunov's direct and indirect methods. Lyapunov-based feedback stabilization examples, including backstepping and adaptive control.
Input-to-state stability. Using level sets for reachability bounds and safety certification.
Sum-of-squares techniques and semidefinite programming relaxations for stability and robustness analysis.
- Differential Geometric Tools for Nonlinear Control:
Basics concepts in differential geometry, feedback linearization and design examples.
- Sliding Mode Control:
Stabilization and tracking.