MEHRAN UNIVERSITY OF ENGINEERING AND TECHNOLOGY, JAMSHORO

INSTITUTE OF INFORMATION AND COMMUNICATION TECHNOLOGIES

Title of Subject NON-LINEAR CONTROL SYSTEMS

Disciplines PhD Mechatronics
Pre-requisites
Semester
Assessment Sessional : 10%, Mid Semester: 30%, Final Semester: 60%
Effective 19-Batch and onwards
Credit Hours 3+0 Minimum Contact Hours: 42 + 00
Maximum Marks: 100 + 00

Aims and Objectives: Nonlinear control deals with the analysis and control of
systems that are nonlinear, time-varying, or both. In this
subject, analysis and control of nonlinear systems we be
investigated. In particular, various notions of stability will be
discussed. Additionally, nonlinear control methods will be
developed and applied to a number of example domains,
including robotics, avionics, and systems biology.
Contents:

Nonlinear Systems
1. Introduction to nonlinear Systems
2. Nonlinear Models
3. Solutions to nonlinear systems
4. Linear vs. nonlinear
Stability Analysis
5. Notions of Stability
6. Lyapunov Functions
7. Invariance Principles
8. Converse Theorems
Control Design
9. Feedback Control
10. Design via Linearization
11. Gain Scheduling
Control Lyapunov Functions
12. Control Lyapunov functions
13. CLFs and feedback linearizations
14. Sliding Mode Control
15. Adaptive Control
16. Control barrier functions
Geometric Methods
17. Controllability concepts
18. Drift-free control systems
19. Nonholonomic systems
Books Recommended:

1. Hassan K. Khalil, Nonlinear Systems, 3rd Ed., Prentice Hall

2. Shankar Sastry, Nonlinear Systems: Analysis, Stability, and Control, Springer
MEHRAN UNIVERSITY OF ENGINEERING AND TECHNOLOGY, JAMSHORO
INSTITUTE OF INFORMATION AND COMMUNICATION TECHNOLOGIES

Title of Subject ADVANCED TOPICS IN CONTROL SYSTEMS

Disciplines PhD Mechatronics
Pre-requisites
Semester
Assessment Sessional : 10%, Mid Semester: 30%, Final Semester: 60%
Effective 19-Batch and onwards
Credit Hours 3+0 Minimum Contact Hours: 42 + 00
Maximum Marks: 100 + 00

Aims and Objectives:

Contents:

1. Introduction to digital control

Control system specifications, Distinct control vs digital control
2. Modeling of sampled‐data systems
The z‐transform and sampled‐data systems, Properties and inverse of z‐transform,
Discrete models of sampled data systems, System identification
3. Sampling rate selection
Sampling theorem and aliasing, Selection based on smoothness of input and output,
Disturbance rejection, Stability
4. Controller design with continuous systems
Comparison of emulation methods: numerical integration, pole‐zero mapping, hold
equivalence, Discrete PID control and Zeigler‐Nichols tuning method,
Continuous controller design using Bode plots
5. Direct digital design
Conversion of time domain specifications to the z‐plane, Z‐plane root locus,
Direct digital design method of Ragazzini
6. Design considerations for robust control
Sensitivity to modeling errors, Relative stability, Effect of sensor noise
7. Feedforward control
8. State space methods for control and estimation
Continuous time state‐space plant model, Discrete time state‐space model,
Design of state space pole placement control, Estimator design
9. Optimal feedback control and optimal estimation
Time varying optimal feedback control, LQR steady state optimal feedback control,
LQG control, Optimal estimation
10. Long range predictive control (LRPC)
Tuning, Advantages and disadvantages
11. Adaptive control
Gain scheduling, Model‐reference adaptive systems (MRAS), Self‐
tuning regulators (STRs), Recursive least‐
squares (RLS) estimation with exponential forgetting
12. Dealing with actuator constraints
Modifying a continuous‐time linear controller for anti‐windup, State‐
variable feedback and anti‐windup
13. Learning control
Iterative learning control (ILC), Convergence analysis, Linear discrete time SISO ILC
14. Fuzzy control
Fuzzy sets, Fuzzy Control, Fuzzy Rules
15. Variable structure control
Basic theory of sliding mode control (SMC), Equivalent control method,
Implementation issues
Books Recommended:

1. Glad and Ljung, ``Control Theory - Multivariable and nonlinear methods" Taylor
and Francis, 2000.
2. Slotine and Li, "Applied Nonlinear Control", Prentice Hall
3. Hassan K. Khalil, Nonlinear Systems, 3rd Ed., Prentice Hall
4. Shankar Sastry, Nonlinear Systems: Analysis, Stability, and Control, Springer