2.152J Nonlinear Control System Design

Class Info

Introduction to applied nonlinear control and estimation. Nonlinear stability theory, Lyapunov analysis, Barbalat's lemma. Feedback linearization, internal dynamics. Sliding surfaces. Adaptive nonlinear control. Contraction analysis, differential stability theory. Nonlinear observers. Stable adaptive control using multiresolution bases. Stability of nonlinear partial differential systems. Asynchronous distributed computation. Concurrent Synchronization. Emphasis on applications to physical systems (robots, aircraft, spacecraft, underwater vehicles, reaction-diffusion processes, machine vision, oscillators, internet). Term projects.

This class has 2.151, 6.241, and 16.31 as prerequisites.

2.152J will be offered this semester (Fall 2017). It is instructed by J.-J. E. Slotine.

This class counts for a total of 12 credits. This is a graduate-level class.

In the Fall 2013 Subject Evaluations, 2.152J was rated 5.9 out of 7.0. You can find more information at the Index of /course/2/2.152 site.

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