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Unformatted text preview: Department of Automatic Control Lund Institute of Technology Nonlinear Control and Servo Systems Lecture 1 • Practical information • Course contents • Nonlinear control phenomena • Nonlinear differential equations Course Goal To provide students with a solid theoretical foundation of nonlinear control systems combined with a good engineering ability You should after the course be able to • recognize common nonlinear control problems, • use the most powerful analysis methods, and • use some practical design methods. Today’s Goal • Recognize some common nonlinear phenomena • Transform differential equations to autonomous and first- order form • Describe saturation, dead-zone, relay with hysteresis, backlash • Calculate equilibrium points Material • Slotine and Li, Applied Nonlinear Control , Prentice Hall, 1991. Available at KF (516kr) and www.bokus.com (484kr). • Handouts • Lab PM (two labs) • Matlab via UB2 • Home page, http://www.control.lth.se/~kursolin/ Today: Chapter 1 Nonlinear Control and Servo Systems 1998 Nonlinear Control and Servo Systems (4 credits, 56 h) treats the analysis and synthesis of nonlinear control systems by means of analysis, simulation, and synthesis. Brief course information (in Swedish) is available. Lecturer Bo Bernhardsson, [email protected], M-building (second floor) 046-2228783 Karl Henrik Johansson, [email protected], M-building (second floor), 046-2229745 Mikael Johansson, [email protected], M-building (second floor), 046-2228795 Literature Slotine, J.J.E., and Li, W., Applied Nonlinear Control, Prentice-Hall, 1991, ISBN 0-13-040049-1. Handouts Course Outline 1. Introduction. Typical nonlinear problems and phenomena. 2. Modeling and simulation. Phase plane analysis. 3. Stability theory. 4. Describing function analysis. 5. Compensation for friction, back-lash, and saturation. 6. Nonlinear control design. 7. Optimal control. The edge. Lectures, Exercises, and Laboratories L1-2: Introduction. Typical nonlinear problems and phenomena. (Ch. 1) E1: Linearization. L3-4: Modeling and simulation. Phase plane analysis. Simulink. ClassificationL3-4: Modeling and simulation....
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- Spring '08
- LTI system theory, Linear system, Stability theory, Nonlinear control