|Course Unit Title||NON-LINEAR AND ADAPTIVE CONTROL|
|Course Unit Code||AEEE551|
|Course Unit Details||MSc Electrical Engineering (Technical Electives) - |
|Number of ECTS credits allocated||7|
|Learning Outcomes of the course unit||By the end of the course, the students should be able to:|
- Explain Phase plane techniques.
- Determine the qualitative behaviour of systems near equilibrium points.
- Apply Poincare-Bendixson theory to determine the asymptotic behaviour of planar flows.
- Review Definitions and Basic stability theorems of Lyapunov.
- Implement LaSalle’s Invariance Principle.
- Use Converse Theorems.
- Perform Feedback Stabilization.
- Apply Backstepping.
- Implement Sliding mode control.
- Implement Plant parametric models. Linear, Bilinear
- Use Parameter identifiers and algorithms in SPR-Lyapunov Design
- Apply Gradient method, least squares method.
- Apply the MIT Rule and perform MRAS design using Lyapunov Theory
- Apply Output feedback.
- Implement Scalar case, Polynomial approach.
- Use the State-variable approach.
- Implement Model Reference control for nonlinear systems.
- Apply Adaptive control of linearizable minimum phase systems.
|Mode of Delivery||Face-to-face|
|Recommended optional program components||NONE|
- Planar Dynamical Systems Phase plane techniques. Qualitative behaviour near equilibrium points. Limit Cycles – Poincare-Bendixson theory.
- Lyapunov Stability Definitions. Basic stability theorems of Lyapunov. LaSalle’s Invariance Principle. Converse Theorems.
- Lyapunov-Based Design Feedback Stabilization. Backstepping. Sliding mode control.
- Real-Time Parameter Estimation Plant parametric models. Linear, Bilinear. Parameter identifiers and algorithms: SPR-Lyapunov Design. Gradient method, least squares method.
- Model Reference Adaptive Control The MIT Rule. MRAS design using Lyapunov Theory. Output feedback.
- Adaptive Pole Placement Control Scalar case. Polynomial approach. State-variable approach.
- Adaptive Control of Nonlinear Systems Model Reference control for nonlinear systems. Adaptive control of linearizable minimum phase systems.
|Recommended and/or required reading:|
- Khalil, Nonlinear Systems, 3rd edition, Prentice Hall, 2001.
- Ioannou & Sun, Robust Adaptive Control, Prentice Hall, 1996. (required) (comment: Free on-line text available.)
- K.J. Astrom, B. Wittenmark, Adaptive Control: Second Edition, Dover Publications; 2nd edition, 2008
- S. Sastry, Nonlinear Systems: Analysis, Stability, and Control, Springer, 1999.
- Krstic, Kanellakopoulos, and Kokotovic, Nonlinear and Adaptive Control Design, Wiley, 1995.
- S. Sastry, M. Bodson, Adaptive Control: Stability, Convergence, and Robustness, Prentice-Hall Advanced Reference Series (Engineering), Prentice-Hall, 1994
|Planned learning activities and teaching methods|
- The teaching of this course is based on lectures (3 hours per week) in a classroom, using a combination of traditional teaching with notes on a white board and slide presentations using a projector for the presentation of the more complicated diagrams and graphs.
- Several examples regarding the material presented during the lectures are discussed and solved and further questions related to particular topic issues are compiled by the students and answered, during the lecture or assigned as homework. Due to the level and type of the course the students are urged to participate in discussing the various topics and provide their opinion. Topic notes are compiled by students, during the lecture which serve to cover the main issues under consideration. Students are also required to heavily use the textbook assigned to the course in addition to other sources found in the library and elsewhere to broaden their perspective on the various issues presented in class and in the textbook.
- Homework problems are assigned from the textbook and elsewhere as a turn in assignment or for homework practice. Also, students are advised to use the reference books for further reading and practice in solving related exercises. Tutorial problems are also submitted as homework and these are solved during lectures or the solutions are posted on the class webpage. Further literature search is encouraged by assigning students to identify a specific problem related to some issue, gather relevant scientific information about how others have addressed the problem.
- Students are assessed continuously and their knowledge is checked through tests with their assessment weight, date and time being set at the beginning of the semester via the course outline. They are prepared for final exam, by revision on the matter taught, problem solving and concept testing and are also trained to be able to deal with time constraints and revision timetable. The final assessment of the students is formative and summative and is assured to comply with the subject’s expected learning outcomes and the quality of the course.
|Assessment methods and criteria|
|Language of instruction||English|