Lecture Information: Tuesdays and Thursdays, 11:00 am - 12:30 pm, 1165 Etcheverry.
Dr. Murat Arcak,
569 Cory Hall
arcak at berkeley.edu
Office Hours: Tuesdays 3:00-4:00 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.
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.
Robustness Analysis and Computational Methods:
Input-to-state stability. Using level sets for reachability bounds and safety certification. Sum-of-squares techniques and semidefinite programming relaxations for stability and safety certification.
- Differential Geometric Tools for Nonlinear Control:
Basics concepts in differential geometry, feedback linearization and design examples.
- Dissipative Systems:
Definition and examples of dissipativity, application to compositional analysis of interconnected systems, case studies.