Description
Objectives
The course is aimed at providing a deeper understanding and extending system analysis and control design methods proposed in the basic courses on linear systems and control to dynamical systems described by multivariable, nonlinear models that are affine in the input.
The course is addressed to students from the Master of Science in Control Engineering.
General Information
- Tuesday: 10:15-11:45, Room A6 (DIAG)
- Tuesday: 11:45-13:30, Room A6 (DIAG)
Classification issues: From linear to nonlinear state space representations. Input-output properties of input affine systems.
The geometry of dynamical systems: From linear to nonlinear.
The differential-geometric point of view in the analysis of nonlinear systems: Vector fields and distributions, Frobenius theorem, coordinates transformations and local decompositions.
Introduction to stability: Lyapunov general method, LaSalle theorem, the analysis of the linear approximation; the method of central manifold. Classification of elementary bifurcations.
Second part: Nonlinear Control
Introduction to the control of state affine dynamical systems.
Linearization under static and dynamic feedback; disturbance and input-output decoupling problems; dynamical inversion.
The concept of zero-dynamics and its role in the stability of feedback control systems.
Trajectory and model tracking.
From passivity-based concepts to step-by-step methods for feedback stabilization.
Applications to case studies from different disciplines.
Announcements
Dear students,
Professor Romeo Ortega will give a special class on passivity-based control (http://www.diag.uniroma1.it/node/12392) on May, 17 (Wednesday) in room B2 at 12 pm.
You are warmly invited to attend it.
Best regards,
Mattia Mattioni
Dear students,
the oral part for this session of Nonlinear Systems and Control (Parts I and II) will be held on Wednesday, March 29th starting from 14:30 at DIAG (Prof. Monaco's office).
Best,
Mattia Mattioni
Dear students,
the next Exam of NS&C will take place on March, 24th h 14:30 at Edificio Ex Poste (Via dello Scalo San Lorenzo).
Best
Mattia Mattioni
Dear students,
a stage position is opened at Ecole Centrale Nanates-IRCCyN on Stability Analysis of Modern Power Systems. The financial funding of the stage is ensure by The Control of Power Grids chair.
Further informations can be found here.
Do not hesitate to contact us for further information.
Best regards,
Mattia Mattioni
Dear students,
The European Space Agency (ESA) has opened several calls for young graduate students.
You are strongly encouraged to apply for one of the topics and positions.
For further information click here.
Please note that the deadline is tonight.
Best
Salvatore Monaco and Mattia Mattioni
Dear students,
the next written exam for nonlinear systems and control will be held on February, 8th 2017 from 9am in Room B2 at DIAG.
Best,
Mattia Mattioni
Dear students,
there are three calls for traineeship activity in Control theory to be used to develop your own master thesis.
- Digital control of underactuated mechanical systems to be developed at Laboratoire des Signaux et Systèmes (L2S, Gif sur Yvette, France) under the supervision of Dorothée Normand-Cyrot and Salvatore Monaco
- Visual Servoing of a Robotic Telescope to be devoleped at Laboratoire Lagrange (Université de Nice Sophia-Antipolis, CNRS, Observatoire de la Cote d’Azur) under the supervision of Jean-Pierre FOLCHER and Lyu ABE
- FPGA-based Real-Time Control System for Astronomy to be developed at Laboratoire Lagrange (Université de Nice Sophia-Antipolis, CNRS, Observatoire de la Cote d’Azur) under the supervision of Sylvain ROUSSEAU and Jean-Pierre FOLCHER.
You might find more detailed information on the attached pdf files.
Please notice that the call for Erasmus traineeship (here) is opened until January 2017. This can be combined with the mater thesis proposal above, allowing you to get fundings for your staying in France.
If you're interested in the propositions above, please contact prof. Monaco.
Best,
Mattia Mattioni
ps: French is not mandatory
open till June 2016 the call for the 2016 European Satellite Navigation Competition.
It could be of interest for somebody!
Good work and regards
Salvatore Monaco
| Name | Office Hours | |
|---|---|---|
Mattia Mattioni | When? Where? | |
Salvatore Monaco | When? Where? |