ENGG4440Nonlinear Control and Estimation

Course handbook

Description

This course is intended to equip students with an understanding of control and estimation for nonlinear systems. Specifically, the course will cover some basic concepts of nonlinear systems and control theory such as stability, oscillatory behaviour, Lyapunov theory, differential geometric methods (e.g., feedback linearization), and nonlinear model predictive control. It also covers modern estimation and observer techniques for nonlinear systems.

Availability2019 Course Timetables

Learning outcomes

On successful completion of the course students will be able to:

1. Apply tools from Lyapunov theory to commonly encountered nonlinear systems in engineering

2. Design and implement feedback control systems for regulating the output of a nonlinear system

3. Design and implement antiwindup systems to improve nonlinear system performance

4. Model uncertainty in Engineering systems

5. Formulate decision problems in the presence of uncertainty

6. Design and implement observers and estimators for nonlinear systems.

Content

This course will cover:

• Review of concepts from systems theory

• Stability and small gain theorem

• Lyapunov theory

• Linearisation and review of linear systems

• Antiwindup design

• Sliding mode control

• Feedback linearization

• Nonlinear internal model control

• Output regulation

• Nonlinear MPC

• Luenberger observers

• High gain observers

• Sliding mode observers

• Nonlinear Kalman Filtering

• Parameter estimation

Assumed knowledge

ENGG3440 Linear Control and Estimation, MATH2310 Calculus of Science and Engineering

Assessment items

Written Assignment: Assignments x 2

Tutorial / Laboratory Exercises: Laboratory Assignments x 7

Contact hours

Callaghan