The lecture is concerned with the fundamental concepts of the analysis and the controller and observer design of nonlinear dynamical systems.

introduction to nonlinear system theory, examples of nonlinear systems (mechanical, electrical, hydraulic), stick-slip effect, basics of dynamical systems, existence and uniqueness of solutions, sensitivity equations, Lyapunov stability, invariance principle of Krasowskii-LaSalle, direct and indirect method of Lyapunov, Lyapunov equation, stability of non-autonomous systems, Lemma of Barbalat, Lyapunov-based controller design (simple PD-law, computed torque, integrator backstepping, generalized backstepping, recursive backstepping), affine-input systems, exact input-output and input-state linearization of SISO- and MIMO-systems, relative degree, zero dynamics, trajectory tracking, flatness, basics of differential geometry (manifold, tangent and cotangent space, Lie derivatives, Theorem of Frobenius), observer design for linear time-variant systems

A presentation of all courses offered by the institut in the summer term 2013 will be given on thursday, 5th of March 2013, at 2:00 pm in lecture hall EI9. preliminary discussion in the first lecture. lecture starts at 5th of March 2013 used software: Matlab/Simulink and Maple

oral examination

Lecture notes for this course are available. http://www.acin.tuwien.ac.at/lehre/master/regelungssysteme/ [1] Frankel T., The Geometry of Physics, Cambridge University Press, New York, (1997). [2] Isidori A., Nonlinear Control Systems, 3rd Ed., Springer, London, (1995). [3] Isidori A., Nonlinear Control Systems II, Springer, London, (1999). [4] Khalil H.K., Nonlinear Systems, Macmillan Publishing Company, New York, (1992). [5] Krstic M., Kanellakopoulos I., Kokotovic P., Nonlinear and Adaptive Control Design, John Wiley & Sons, New York, (1995). [6] Nijmeijer H., van der Schaft A.J., Nonlinear Dynamical Control Systems, Springer, New York, (1991). [7] Sepulchre R., Jankovic M., Kokotovic P., Constructive Nonlinear Control, Springer, London, (1997). [8] Slotine J.-J. E., Li W., Applied Nonlinear Control, Prentice Hall, New Jersey, (1991). [9] van der Schaft A.J., L2-Gain and Passivity Techniques in Nonlinear Control, Springer, London, (2000). [10] Vidyasagar M., Nonlinear Systems Analysis, 2nd Ed., Prentice Hall, New Jersey, (1993).

analysis, controller and observer design for linear time-invariant systems in the state-space and the frequency domain