Controlo Não Linear

Objectives

In this course students will be faced with tools and methods for the analysis and design of nonlinear control systems in the continuous time domain. Particular emphasis is given to control via feedback linearization and sliding mode control. Applications focus on real cases in simulation environments.

Syllabus

Analysis of nonlinear systems. Introduction to nonlinear systems: typical behaviors and characteristics. Analysis using the describing function: fundamentals of describing functions, typical nonlinearities, stability analysis by Nyquist criterion: existence and characterization of limit cycles. Characterization of limit cycles in the phase plane. Stability analysis of nonlinear systems: application of Lyapunov theory, Krasovskii method and variable gradient method. Introduction to the design of nonlinear control systems. Feedback Linearization: concepts and basics of differential geometry, input-state feedback linearization, input-output feedback linearization. Sliding mode control: sliding surfaces, continuous approximation of control laws, modeling/performance binomial.

Prerequisites

Approval in Optimal Control or equivalent course.

Cross Competence Component

Elaboration of the report requires critical reasoning and the presentation requires oral communication skills and use of computer multimedia tools (50% of the evaluation)

Programming And Computing Component

Programming in Matlab/Simulink.

Ethical Principles

All members of a group are responsible for the group’s work In any assessment, every student shall honestly disclose any help received and sources used. In an oral assessment, every student shall be able to present and answer questions about the entire assignment and solution.