 Browse by Category

Browse by School/
Graduate School
Advanced Nonlinear Control
Kenji FUJIMOTO Associate Professor
Department: School of Engineering / Graduate School of Engineering
Class Time:  2011 Fall Wednesday 
Recommended for:  freshmen and sophomores majoring in electromechanic engineering 
Course Overview
Course Aims
In this course, you will learn control methods based on nonlinear differential equations, and also analytical methods of (mechanical) performance. From basic items for example, Lyapunov method, which is one common form of nonlinear analysis, inputoutput stability, and the evaporation theory to practical ones like mechatronic modeling and control methods, you will be exposed to a great deal of engineering theory and knowledge. I hope to carry on the lectures mindful of its connections with related fields, such as the mathematics, control engineering, and physics.
Key Features
Because this course is based on many areas in mathematics, physics, and engineering, it is important that the students review these fields during the course. The lessons themselves are mathematical, so I try to give students both the abstract concept and the examples that follow. Students are given a rather tough paper assignment roughly once every two weeks. Most of them seem to enjoy the assignments better when given a slightly difficult one.
Close Section
Syllabus
Contents
 Introduction
 Forms of differentiation
 The basics of nonlinear controls
 Modeling of mechatronics system and its properties
 Optimal control
 Dynamic control
 Feedback linearity
Requirements and recommended courses
Mathematics 1, 2 and practical mathematics, control engineering 1, 2, and practice
Course Schedule
Session  Contents 

1  Introduction 
2  Reviews on differentiation 
3  The nonlinear differential equation and equal exchange 
4  The balance point and stability, the Lyapunov method 
5  Lyapunvs reverse theorem and LaSalle's invariant principle 
6  Inputoutput stability and the smallgain theorem 
7  Passivity and the passivity theorem 
8  Evaporation and the partial differential equation 
9  The Dynamic system and Hamilton's equation 
10  Passivity of the Hamiltonian system 
11  The basics of nonlinear control design 
12  Optimal control, passivitybased control 
13  Inverse optimal control, linearization of input & output, Canonical form 
14  Linearization of feedback 
15  Conclusion 
Close Section
Page last updated November 4, 2008
The class contents were most recently updated on the date indicated. Please be aware that there may be some changes between the most recent year and the current page.