University of California,
Santa Barbara
Department of Electrical and Computer Engineering
Nonlinear Control Systems
ECE 236 - Winter 2007
Instructor: Professor Petar Kokotovic
Schedule:M-W 4:00pm-5:50pm
Phelps 1437
There will be an additional office hour Thursday, February 15 from 1:30pm-2:30pm in Frank Hall room 4164
Course Information: This is an introductory course presenting the fundamentals of nonlinear dynamical systems and several feedback control designs for stabilization and tracking. Basic concepts are illustrated by real-life examples. Understanding the meaning of the main theorems is the primary goal, with less emphasis on the details of their proofs.
Lyapunov Stability
Invariance Principle
Design with control Lyapunov Functions
Input-Output Stability
Passivity
Circle and Popov Criteria
Center Manifold
Perturbations and Averaging
Feedback Control Design
ECE 230A and one ODE course, or consent of professor
Nonlinear Systems, by H.k. Khalil
Prentice Hall (Any Edition)
ISBN 0-13-067389-7
In the Solution of 2.27-2 it is stated that "for small negative values
of the parameter mu there is a stable focus at the origin and an unstable limit
cycle around origin." You were not expected to establish the existence
of this limit cycle, because we haven't developed analytical
tools for it. The solution text was accompanied by simulations which I haven't
included in my handouts. Two such plots are presented below. Note that unstable
parts were simulated in reverse time, while the stable ones in the forward
time.
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Last Updated: June 6, 2006