AME 654: Geometric Nonlinear Control

Description:
This course is an introduction to nonlinear control with emphasis on differential geometric methods. Topics covered include basic differentiable geometry, decomposition of nonlinear control systems, I/O maps and realization theory, nonlinear feedback for SISO and MIMO systems, tools and applications of the geometric theory of state feedback, tracking and regulation and global feedback design for SISO systems.
Time and place: 12:30 - 1:45, Tuesdays and Thursdays, 336 DeBartolo.
 
Instructor:  Handouts: Homework sets:

Course outline:

Topic: Target dates:
Introduction.  August 28
Basic differential geometry and local decompositions of control systems.  August 30 - September 11
Global decompositions of control systems.  September 13 - September 20
Input-output maps and realization theory.  September 25 - October 2
Elementary theory of nonlinear feedback for SISO systems.  October 4 - October 16
Elementary theory of nonlinear feedback for MIMO systems. October 30 - November 1
Geometric theory of state feedback - tools and applications.  November 6 - November 15
Tracking and regulation.  November 20 - December 4
Global feedback design for SISO systems.  December 6 - December 11

Last updated: August 24, 2001.
Bill Goodwine (jgoodwin@nd.edu)