MSc Advanced Control and Systems Engineering with Extended Research / Course details

• Characteristics of nonlinear behaviour, linearized models.
• Phase-plane methods; approximate construction of state trajectories.
• Describing functions; use in predicting oscillations.
• Stability theory, Lyapunov functions; methods of construction and use K-Y lemma; circle criteria.
• Compensation for nonlinearities; feedback linearization.
• Integrator backstepping and iterative backstepping design.
• Model reference control and model reference adaptive control of linear systems; adaptive laws and stability analysis.
• Robust issues in adaptive control, dead-zoon and sigma modifications in adaptive laws.
• Adaptive control of nonlinear systems and adaptive backstepping

The course unit unit aims to:

• Enable the stability and performance analysis and design of nonlinear systems and controllers.
• Enable the use of control schemes which adapt to unknown and/or slowly varying systems

On successful completion of the course, a student will be able to:

ILO 1: Demonstrate knowledge of the principal structures used for adaptive control systems.

ILO 2: Design adaptive controllers, for linear and nonlinear systems.

ILO 3: Use backstepping design for control of nonlinear systems.

ILO 4: Apply the describing function method to nonlinear feedback systems.

ILO 5: Use the relevant simulation tools, and apply parameter estimation methods, in other areas.

ILO 6: Obtain locally linearized models for nonlinear dynamic systems.

ILO 7: Demonstrate knowledge of the effects of non-linearities on the operation of control systems.

ILO 8: Show an understanding of methods for reducing nonlinear effects in control systems.

ILO 9: Implement adaptive control schemes for engineering systems.

ILO 10: Simulate nonlinear control systems using Matlab and Simulink.

Unseen Written Examination

Four questions, each with 25 marks.  Answer all questions

Length of examination: 2 hours

Calculators are permitted in this examination

The maximum mark for this examination forms 70% of the total unit assessment

Course Work Not Based On Laboratory Attendance

coursework 1: Control design for nonlinear systems and simulation studies

Submission date: Friday Week 2, 2nd semester

The maximum mark for coursework1 forms 15% of the total unit assessment

Coursework2: Adaptive control design for nonlinear systems and simulation studies

Submission date: Friday Week 3, 2nd semester

The maximum mark for coursework2 forms 15% of the total unit assessment

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• Applied nonlinear control by Slotine, J.-J. E. Prentice Hall, 1991.
• Nonlinear systems by Khalil, Hassan K. Pearson Prentice-Hall, 2000.
• Nonlinear systems analysis  by Vidyasagar, M. Society for Industrial and Applied Mathematics (SIAM 3600 Market Street Floor 6 Philadelphia PA 19104), 2002.
• Nonlinear dynamical systems by Cook, P. A. Prentice Hall, 1994.
• Nonlinear and adaptive control systems by Ding, Zhengtao. The Institution of Engineering and Technology, 2013.
• Robust adaptive control by Petros A. Ioannou, Jing Sun . Prentice Hall, 1996. 
• Stable adaptive systems by  Narendra, Kumpati S. Dover Publications, 2005.
• Nonlinear and adaptive control design by Krstić, Miroslav. Wiley, 1995.
• Robot Manipulator Control: Theory and Practice by Frank L. Lewis, Darren M. Dawson, Chaouki T. Abdallah. CRC Press, 2003.
• Control of Complex Systems by Herrmann, G ; Na, J ; Mahyuddin, M.Nasiruddin. Elsevier Inc, 2016.