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# ELEG 5443 Nonlinear Systems

## Instructor: Roy McCann, Ph.D., P.E.

Ph: (479) 575-6054
Email: rmccann@uark.edu

## Textbook (Required): Applied Nonlinear Control; J. Slotine and W. Li.: Prentice

Hall, 1991. ISBN 978-0130408907
Reference (optional) Nonlinear Systems (3rd Edition), H. Khalil, Pearson (2001)
ISBN 978-0130673893

Welcome to the study of nonlinear dynamic systems. This course extends the theory
developed for linear systems (transient and steady-state response, state-space, stability,
feedback, etc.) to the more realistic case where nonlinearities exist in practical
applications. We will employ Matlab-Simulink throughout the course for both analysis
and design. Applications will focus on power electronics and energy conversion systems.
Areas of particular interest to students can be explored in the course project.

Course Summary:

1. Analysis
a. Mathematical modeling and simulation of nonlinear dynamic systems
b. Stability Analysis and Lyapunov Theory
c. Describing Function Analysis
2. Design
a. Feedback Linearization
b. Variable Structure Systems (sliding Mode Control)
c. Applications

Grading:

## 5 Homework Assignments (15% each): 75%

Design Project (Matlab-Simulink) 25%

## Five homework assignments will be given. A design/analysis project will be assigned

and its completion will count as the final exam.
Prerequisites by Topics
1. Time-domain solutions to linear differential equations.
2. Abstract linear algebra (vector spaces).
3. Introductory course in feedback control systems.
Course Objectives
After completing this course, engineering graduate students should be able to determine
the following:
Develop mathematical models of nonlinear systems that include hysteresis,
backlash, preload, and multilinear products of state-variables.
Solve nonlinear differential equations in the time-domain by using computer-based
numerical methods such as Matlab/Simulink.
Apply Lyaponovs First and Second Theorems to determine the stability of
nonlinear dynamic systems.
Determine the associated describing functions for commonly encountered
nonlinearities in electrical circuits.
Apply feedback linearization techniques based on the Frobenius Theorem to apply
feedback linearization techniques to nth-order systems with full state-feedback.
Design variable structure and sliding mode control systems based on defined
closed-loop dynamic requirements.
Evaluate sliding mode control system designs for switched mode power electronic
circuits such as dc-dc converters and three-phase inverters using computer
simulation tools.
Topics
Phase plane analysis
Limit cycle phenomena
Numerical methods and solution of nonlinear differential equations
Equilibrium points and definitions of stability
Lyapunov stability analysis linearization and the First Theorem
Lyapunov stability analysis Lyapunov Functions and the Second (Direct Method)
Theorem
Describing function analysis
Feedback linearization
Variable structure systems, Frobenius Theorem and sliding mode control
Overview of switched mode power electronics
Applications of nonlinear control systems design case studies
Computer simulation design project
8W2 2017 Course Schedule. Homework assignments are indicated with the start date
in parenthesis (e.g., begin HW-1 on 10/17/2017 and complete on 10/24/2017).

## Lecture New Date Topic Book Section

Number Number
1 1 10/12 Introduction Chap 1; Sec 3.1
2 2 10/13 Nonlinear Examples Sec. 3.1., (Matlab-
Simulink)
3 3 8/14 Phase Plane Analysis Sec. 2.1, 2.2, 2.4; Sec.
3.1, 3.2, 3.3
4 4 8/16 Equilibrium Points Sec. 2.1-2.4; Sec. 3.1,
3.2, 3.3
5 5 8/17 Limit Cycles Sec. 2.5
6 6 (10/17) HW-1 Due 10/24
7 7 10/18 Stability Equilibrium Points & Linearization Sec. 2.4, 2.5; Sec. 3.3
8 8 10/19 Lyapunov Stability (Direct Method) Sec. 3.4
9 9 10/20 Lyapunovs Linearization Method Sec. 3.3
10 10 10/23 Invariant Set Theorems Sec. 3.4.3
11 11 10/24 Exponential Stability Sec. 3.2
12 12 10/25 Non-Autonomous Systems Sec. 4.1, Sec. 4.2
13 13 (10/25) HW-2 Due 11/3
14 14 10/26 Passivity Sec. 4.6
15 15 10/27 Positive Real Transfer Functions & Feedback Sec. 4.6, 4.7
16 16 10/30 Passivity and Feedback Systems Sec. 4.6, 4.7, Notes
17
18
19
20 17 10/31 Describing Functions Notes, Sec 5.1, 5.2
21 18 11/1 Describing Function Methods Notes, Sec. 5.3, 5.4
22 19 11/2 Mathematical Tools Sec. 6.1, , 6.2, 6.4
20 (11/3) HW-3 Due 11/9
23 21 11/6 Mathematical Tools Sec. 6.2
24 22 11/7 Feedback Forms Sec. 6.3
25 23 11/8 Stabilization Feedback Linearization Sec. 6.3
26 24 11/9 Feedback Linearization Sec. 6.3, 6.4
27 25 (11/10) HW-4 Due 11/16
28 26 11/13 Backstepping Notes
29
30
31
32 27 11/14 Sliding Mode Control Sec. 7.1, 7.2
33 28 11/15 Sliding Mode Control Sec. 7.1, 7.2, notes
34 29 (11/16) HW-5 Due 11/30
35 30 11/17 Feedback Linearization & Sliding Mode Sec. 6.3, 7.2
Control
36 31 11/20 Design Project Notes
37 32 11/21 Design Project Notes
38 33 (11/22) Design Project Due 12/7