This is an introductory course on Nonlinear Systems and Control. Topics include nonlinear differential equations and their fundamental properties (existence and uniqueness of solutions, continuity, smoothness, limit cycles, etc.), second order systems, Lyapunov stability theory (autonomous systems, non-autonomous systems, linear systems and linearization, converse theorems), input-to-state stability, input-output stability, passivity, absolute stability, regular and singular perturbation theory, and feedback linearization. Prerequisite: ESE 500.
Instructor: Erfan Nozari (enozari@seas.upenn.edu)
Lecture Times & Location: Mondays & Wednesdays 9-10:30am, Towne 303
Instructor Office Hours: Mondays, 11-12, Moore 317. Other times can be scheduled via email.
Graders: Jayanth Bhargav (jayanthb@seas.upenn.edu), Siddharth Singh (hemrak@seas.upenn.edu)
Textbook: H. K. Khalil, Nonlinear Systems, Prentice Hall, 3rd edition, 2002
Grading: midterm & final: 30%/50% or 40%/40% (whichever helps you), homeworks: 20% + 15% extra
Homeworks: 13 sets, about one per week (8 sets + 5 sets extra grade). Delivered in-class
(Set 1, Set 2, Set 3, Set 4, Set 5, Set 6, Set 7, Set 8, Set 9, Set 10, Set 11, Set 12, Extra Set)
Syllabus (tentative):
Week 1 (8/28): Nonlinear systems and nonlinear phenomena
Weeks 2 & 3 (9/4, 9/9, 9/11): Second-order systems
Week 4a (9/16): Existence, uniqueness, continuity, and differentiability of solutions, comparison principle
Weeks 4b & 5 & 6 & 7 (9/18, 9/23, 9/25, 9/30, 10/2, 10/7): Lyapunov stability
Midterm: 10/9, in-class
Week 8 (10/14, 10/16): Input-output stability
Week 9 (10/21, 10/23): Center manifold theory -- on travel, make-up classes 10/28 & 10/30 11-12:30, Fisher-Bennett Hall 20.
Week 10 (10/28, 10/30): Passivity
Weeks 11 & 12 (11/4, 11/6, 11/11, 11/13): Perturbation theory
Week 13 & 14 (11/18, 11/20, 11/25): Feedback Linearization
Week 16 (12/9): Feedback Linearization -- on travel, make-up class 11/20, 11-12:30, Moore 212
Week 15 (12/2, 12/4): Nonlinear design tools
Final: 12/16 & 12/17, take-home.