UE Nonlinear and predictive control

Non linear control (20 h)

1. Introduction to nonlinear systems: representation and specific features 
2. Nonlinear systems analysis: stability, tangent linearization, Lyapunov methods 
3. State feedback control of nonlinear systems: approximate linearization, exact linearization, backstepping, sliding modes 
4. State observers for nonlinear systems: Extended Kalman Filter, Output injection, High gain designs 
5. Observer-controller schemes: adaptive methods, output feedback control 

 Predictive control (14 h)

• Predictive control 
  • Introduction to constraints
  • Finite horizon predictive control
  • Stability conditions
  • Examples
• Predictive control of nonlinear systems
  • Closed loop stability
  • Control parametrization
  • Optimization tools
  • Examples
• Complete case study

List of examples from Mechatronics: Inverted pendulum, tiliting trains, elastic crane, Boeing aircraft, chain of masses linked through springs, automate-manual transmission (AMT), etc.

Prerequisites: State space and transfer approaches for linear systems, optimisation

Non linear control 

• "Nonlinear systems", H. Khalil - Prentice-Hall, 2002.
• "Nonlinear control systems", A. Isidori - Springer Verlag, 1995.