Instructor:
- Name: Amir Taghvaei
- Office hours: Tuesday 2:00 PM - 3:00 PM (GUG 318B)
- Email: amirtag@uw.edu
TA/Grader:
- Name: Yifu Wang
- Email: wangy242@uw.edu
Course logistics:
- Description: Analysis of nonlinear systems and nonlinear control system design
- Textbook: Nonlinear Systems by H. K. Khalil, 3rd Edition
- Prerequisite: AA 447/EE 447/ME 471 (or introductory course in linear systems)
Grading:
- Homeworks: 40%
- Midterm exam: 30%
- Final exam: 30%
Homework policy:
- There are 4 homeworks
- Homeworks are posted online and are due in 2 weeks
- Worked out homeworks can be dropped in the class mailbox or upload online
- Late homeworks are not accepted!
Course outline:
Part I:
- Introduction to nonlinear systems
- Analysis of ordinary differential equations
- Lyapunov stability method
Part II:
- Input-output stability
- Dissipative systems
- Control Lyapunov functions
Lectures
- Intro to nonlinear systems (note)
- Linearization (note, handout)
- Contraction mapping theorem (note)
- Fundamentals of odes (note)
- Proof of existence & uniqueness (note)
- Continuity with initial condition parameters (note)
- Lyapunov stability I (note)
- Lyapunov stability II (note)
- Invariance principle (note)
- Lyapunov for Linear systems (note)
- Stability under vanishing perturbation (note)
- Application in optimization (note)
- L-stability (note, note-on-definition)
- L2 gain & small gain thm. (note)
- Passivity I (note)
- Passivity theorems (note)
- Absolute stability (note)
- Control Lyapunov functions (note)
- Recap and examples (note)
Codes
- Pumping up a swing (code)