Aims and Objectives
Knowledge and Understanding
Having successfully completed this module, you will be able to demonstrate knowledge and understanding of:
- Derive state space representations for nonlinear systems from first principles
- Design controller using frequency domain methods
- Derive state space representation from a given transfer function representation
- Analyse linear dynamical systems by state space methods
- Check controllability/observability by rank test of the controllability/observability matrix
- Analyse stability of nonlinear autonomous systems by state space methods
- Design pole placement state-feedback controller in the state space setting, also with observers in the loop
- Model, analyse, and synthesise nonlinear dynamical systems
- Analyse nonlinear input--output systems by describing functions
Frequency Domain Methods for Controller Design
- Lead-lag compensator
- Introduction to loop shaping
State-space representations for linear systems
- Transfer function canonical realisations
- State space representations
- Controllability and state transfer
- Observability and state estimation
Multivariable control by pole placement
- Pole placement by state feedback
- Elements of optimal control
- Observer design by pole placement
Joint observer-controller schemes
Nonlinear systems and mathematical modelling
Introduction to the phase plane analysis method
Stability and Lyapunov analysis
- Lyapunov indirect method
- Lyapunov direct method
- Lasalle’s Theorem
Nonlinear control system design
- Design via linearisation
- Design via feedback linearisation
- Introduction to Lyapunov based design method
Learning and Teaching
|Preparation for scheduled sessions||18|
|Wider reading or practice||55|
|Completion of assessment task||13|
|Total study time||150|
Resources & Reading list
H. Khalil (2002). Nonlinear Systems. Prentice Hall.
Slotine and Li (1991). Applied Nonlinear Control. Prentice Hall.
K. Astrom and B. Wittenmark (1997). Computer-controlled systems: theory and design. Prentice Hall.
K. Astrom and R. Murray. Feedback Systems: An Introduction for Scientists and Engineers.
This is how we’ll formally assess what you have learned in this module.
This is how we’ll assess you if you don’t meet the criteria to pass this module.
An internal repeat is where you take all of your modules again, including any you passed. An external repeat is where you only re-take the modules you failed.
Repeat type: Internal & External