78860 - Topic Highlight M

Learning outcomes

In this course the most advanced methodology and technology aspects related to automation systems will be presented by internationally qualified experts in the field. The topic will change every year according to the international trend of the automation field.

Course contents

1. Classes of nonlinear systems: input-affine systems. Changes of coordinates. Relative degree. Local normal forms. Global normal forms. Zero dynamics. A comparison with the case of linear systems. Feedback-linearization. Examples.
2. Overview of stability theory and Lyapunov method, with emphasis on the characterization in terms of comparison functions. Input-to-state stability (ISS). Stability of interconnected systems: cascade and feedback connections. Examples.
3. The class of “minimum-phase” nonlinear systems. Global stabilization via full-state feedback. Backstepping. Stabilization via partial-state feedback. Examples.
4. Stabilization via output feedback. High-gain feedback. The concepts of semiglobal and practical stability. Examples and counterexamples.
5. Canonical forms of observable nonlinear systems. The case of input-affine systems.
6. High-gain observers. The nonlinear separation principle. Examples.
7. Robust observers. The notion of extended observer. Almost feedback-linearization. Almost disturbance decoupling.
8. Asymptotic behavior of forced nonlinear systems: the notion of steady-state response. Introduction to the theory of output regulation for nonlinear systems.

Readings/Bibliography

A.Isidori – Lectures in Feedback Design for Multivariable Systems, Springer Verlag (London, 2017): chapters 6 – 7 – 10 (in part) – 12 – Appendix B, downloadable from the instructor’s webpage.

Teaching methods

The intsructor teaches with chalk and blackboard. In remote, this is replaced by pencil and paper

Assessment methods

Comprehensive homework at the end of the classes

Teaching tools

No special tools are required

Office hours

See the website of Alberto Isidori