ECE 690/890: Advanced Non-Linear Controls - Lecture Notes

Timothy Burg, PhD
Professor
Department of Electrical and Computer Engineering
Kansas State University
1058-C Rathbone Hall
Manhattan, KS 66506
Email: tburg@ksu.edu

Lecture Notes (The PPTX file is the only version updated)

• Chp1 - PPTX (older versions: Chapter 1 - PDF, Chapter 1 - SciWord)
• Chp2 - PPTX (older versions: Chapter 2 - PDF, Chapter 2 - SciWord)
  
• Chp3 - PPTX (older versions: Chapter 3 - PDF, Chapter 3 - SciWord)
• Chp5 - PPTX (older versions: Chapter 5 - PDF, Chapter 5 - SciWord)
  
• Chp4 - PPTX (older versions: Chapter 4 - PDF, Chapter 4 - SciWord,
• Nonlinear Control - PPTX (older versions: Nonlinear Control - PDF)
  • Simulation files for HW A.1. The NonlinearHWA1_SimFiles.zip file contains the following:
    • Exact Model Knowledge MDL
    • Adaptive MDL, M-File to plot exported data in Matlab workspace
    • Robust 1MDL
    • Robust 2 MDL, M-File to plot exported data in Matlab workspace
    • Robust 3 MDL
    • Learning MDL, Matlab function block called in MDL
• Chp6 - PPTX (older versions: Chapter 6 - PDF, Chapter 6 - SciWord)
  
• Chp7 - PPTX (older versions: Chapter 7 - PDF, Chapter 7 - SciWord)
  
• *Chapter 8 - PDF, Chapter 8 - SciWord
  
• *Chapter 9 - PDF, Chapter 9 - SciWord
  
• Chp10 - PPTX (older versions: Chapter 10 - PDF, Chapter 10 - SciWord)
  
• *Chapter 11 - PDF, Chapter 11 - SciWord

• Misc
  
  • NOTES on CONTROL APPLICATIONS (Hasirci)
  • Presentation (Nonlinear Control of Mechatronic Systems) - PPT

Lecture Videos from Spring 2014 at Clemson University

• Lecture 1-A- 1/8/2014 and Lecture 1-B- 1/8/2014 (two parts to video) (Chapter 1)
• Lecture 2 - 1/10/2014
• Lecture 3 - 1/13/2014
• Lecture 4 - 1/15/2014 Chapter 3 (1)
• Lecture 5 - 1/17/2014 Chapter 3 (2)
• Lecture 6 - 1/20/2014 MLK Holiday (no lecture)
• Lecture 7 - 1/22/2014 No class (no lecture)
• Lecture 8 - 1/24/2014 Chapter 3 (3)
• Lecture 9 - 1/27/2014 - Chapter 3 (4)
• Lecture 10 - 1/29/2014 - Snow Day (no lecture)
• Lecture 11 - 1/31/2014 - No class (no lecture)
• Lecture 12 - 2/3/2014 - Chapter 3 (5)
• Lecture 13 - 2/5/2014 - Chapter 3 (6 (end))
• Lecture 14 - 2/7/2014 - Chapter 4 (1)
• Lecture 15 - 2/10/2014 - Chapter 4 (2)
• Lecture 16 - 2/12/2014 - Snow Day (no lecture)
• Lecture 17 - 2/14/2014 Chapter 4 (3)
• Lecture 18 - 2/17/2014 - Test 1
• Lecture 19 - 2/19/2014 - Chapter 4 (4 (end)), Chapter 5 (1)
• Lecture 20 - 2/21/2014 - Chapter 5 (2)
• Lecture 21 - 2/24/2014 - Review Test 1, Chapter 5 (3)
• Lecture 22 - 2/24/2014 - Review Test 1, Chapter 5 (4)
• Lecture 23 - 2/28/2014 - Chapter 5 (5 (end))
• Lecture 24 - 3/3/2014 - Nonlinear Control Notes - Tracking Problem, Adaptive Control
• Lecture 25 - 3/5/2014 - Nonlinear Control Notes - Adaptive Control
• Lecture 26 - 3/7/2014 - Nonlinear Control Notes - Robust Control
• Lecture 27 - 3/10/2014
• Lecture 28 - 3/12/2014 - Test 2
• Lecture 29 - 3/14/2014- Review Test 2, Nonlinear Control Notes - Filtered Tracking Error (r(t))
• Lecture 30 - 3/17/2014 - Spring Break (no lecture)
• Lecture 31 - 3/19/2014 - Spring Break (no lecture)
• Lecture 32 - 3/21/2014 - Spring Break (no lecture)
• Lecture 33 - 3/24/2014 - Nonlinear Control Notes - Observers
• Lecture 34 - 3/26/2014 - Nonlinear Control Notes - Observers + Controllers
• Lecture 35 - 3/28/2014 - Nonlinear Control Notes - Observers + Controllers
• Lecture 36 - 3/31/2014 - Nonlinear Control Notes -Velocity Filters
• Lecture 37 - 4/2/2014 - No class (no lecture)
• Lecture 38 - 4/4/2014 - Chapter 10 (1)
• Lecture 39 - 4/7/2014 - Chapter 10 (2)
• Lecture 40 - 4/9/2014 - Test 3 on Nonlinear Control Notes (skipped Continuous Asymptotic Tracking slides 42-52, and Variable Structure Observer slides 103-114)
• Lecture 41 - 4/11/2014 - Chapter 10 (3)
• Lecture 42 - 4/14/2014 - Chapter 10 (4), Chapter 6 (1)
• Lecture 43 - 4/16/2014 - Chapter 6 (2)
• Lecture 44 - 4/18/2014 - Chapter 8
• Lecture 45 - 4/21/2014 - Chapter 7
• Lecture 46 - 4/23/2014 - Linearization and Feedback Linearization Single-link Robot (Chapter 10) Powerpoint File
• Lecture 47 - 4/25/2014 - Misc.
• Exam Week 4/29/2014 Final Exam