Conducted in terms:
Summer Semester 2010/11
Summer Semester 2011/12
Summer Semester 2012/13

ECTS credits: 3

Organized by: Faculty of Mechanical Engineering

Advanced Control Systems MAR2S13008

Course content:
Introdction to nonlinear control and linearization
Basics of differential geometry: dyfeomorphisms, vector field, Lie derivative, Lie bracket, distribtion, Frobenius Theorem.
Dynamic systems
Neccesary and sufficient conditions of linear dynamic system. Brunovsky form.
Feedback linearization.
Linearization by change of coordinates
Partial linearization.
Stabilization of triangular systems.
Physical examples.

Learning outcomes:

(in Polish) Rodzaj przedmiotu

(in Polish) Obowiązkowy

Course coordinators

Ewa Pawłuszewicz

Bibliography

a) basic references:
1. A.Isidori, Nonlinear control systems, Springer 1996
2. R.Marino, P.Tomei, Nonlinear control design, Prentice Hall, 1995

b) supplementary references: