Course

ME-523: Nonlinear Control Systems

Lectures in this course (36)

Covers the representation of state-space models and system dynamics.

Explores the Van der Pol oscillator, its dynamic equations, and phase plane representation.

Covers the analysis and control of nonlinear systems, including methods like phase plan and passivity.

Covers the analysis of nonlinear systems, focusing on equilibrium points and system dynamics.

Covers the harmonic responses of systems to non-harmonic signals.

Covers phase plan representation, limit cycles, topological index, and the first harmonic method.

Covers exercises on the Lyapunov method in non-linear control systems, focusing on stability analysis and Lyapunov functions.

Discusses phase plans for linear order systems and characterizing trajectories through distinguishing eigenvalues and equilibrium points.

Explores trajectories and isoclines in mechanical systems using phase plans and different representation methods.

Discusses limit cycles, equilibrium points, arbitrary curves, abstract plane, and numbering of points.

Covers the analysis of phase planes for linear systems and the Poincaré-Bendixson theorem.

Explores static nonlinearity analysis, focusing on equivalent gain and signal approximation.

Covers Fourier series, harmonic decomposition, and limit cycle prediction in dynamic systems.

Covers the Fourier series representation of periodic signals and harmonic analysis.

Covers the estimation of Lyapunov functions and state representations for different physical systems.

Explores stability analysis of the 1st harmonic in closed-loop systems and the importance of harmonic conditions for limit cycles.

Covers stability, adaptation, Nyquist criterion, and predicting limit cycle existence.

Explores Lyapunov methods for analyzing stability in nonlinear control systems using functions and mechanical analogies.

Explores Lyapunov stability analysis, demonstrating stability determination and function calculation for control systems.

Covers Lyapunov stability analysis, focusing on Lyapunov functions and stability criteria in robotic systems.