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UE Nonlinear and predictive control

Degrees incorporating this pedagocial element :

Description

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

Bibliography

Non linear control 

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