Non-Linear Control Theory

Catalog description

The course provides a basic understanding of nonlinear systems phenomena and studies analysis and control design problems of nonlinear systems. The main analysis tools that will be presented are Lyapunov theory for stability, including the well known LaSalle's invariance principle, and barrier function theory for safety of both autonomous and non-autonomous systems. Further topics include input-output stability, passivity, and the center manifold theorem. The main control tools that will be presented are feedback linearization, backstepping, as well as recent results on learning control Lyapunov and control barrier functions from data. Examples will be taken from mechanical and robotic systems.