2.152J Nonlinear Control System Design
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.
2.152J will not be offered this semester. It will be available in the Fall semester, and will be instructed by J.-J. E. Slotine.
This class counts for a total of 12 credits. This is a graduate-level class.
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