EEE 586 Nonlinear Control Systems
Fall 2009, TTh 10:30-11:45, ECGG227

Instructor: Kostas Tsakalis, GWC 358, 965-1467, 
(This page: http://www.eas.asu.edu/~tsakalis)
Office Hours: TWTh 12:00-1:30 or by appt.
Textbook: Khalil, Nonlinear Systems, 3rd Ed. Prentice Hall

Course Outline:

1. Introduction, Fundamentals (Ch. 1-2-3)
2. Lyapunov Stability (Ch. 4)
3. Passivity (Ch. 6)
4. Input-Output Stability (Ch. 5,7)
5. Advanced Stability Analysis (Ch. 8)
6. Perturbed systems (Ch. 9,11)
7. Additional topics: Selection from Feedback control (12), Design Tools (14).

Grading: Final 40, 2 Midterms 40(30-best + 10-worst), Homework 20

ALL TESTS ARE OPEN BOOK, CLOSED-NOTES.

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HW assignments, test material, handouts

Useful class notes:
Set_3 (237Kb) Linear Algebra Notes

Set_4 (229Kb) Stability, controllability, observability


HW#1 Due 9/17 SOLUTIONS
1.6, 1.7, 1.11, 1.15
2.2, 2.17{1,3}, 2.18{a,b}, 2.20{2}

HW#2 Due 10/1 SOLUTIONS
3.1{1,2,6,8}, 3.3, 3.4, 3.7, 3.23
4.3{3,4}, 4.8, 4.10

10/8 EEE586 Midterm I Material:
Preliminaries, equilibria, linearization, basic Lyapunov theory (Ch.1,2,3,4.1-4.3)  SOLUTIONS

HW#3 Due 10/22 SOLUTIONS
4.13, 4.17, 4.23, 4.24, 4.29, 4.55{1,2,3} 
4.15, 4.16, 4.25, 4.54, 4.56

HW#4 Due  11/3 SOLUTIONS
5.10.{1,2,4}, 5.11.{2,6}, 5.15.{1,3}, 5.17, 5.18

11/12 EE586 Midterm II Material:
Lyapunov theory II(La Salle, Instability), Input-Output Stability, (Ch.4b,5)  SOLUTIONS

HW#5 Due 11/24
6.1, 6.3, 6.4, 6.8, 6.14, 6.15

HW#6 Due 12/3
TBA


12/15 9:50-11:40 EEE586 FINAL EXAM Material: Ch. 1-7 +TBA

OLD HW SOLUTIONS

HW#1 1.5, 1.7, 1.11,2.1.{1,2,3,4}, 2.17.{1,2}, 2.20.{3,4,5}, 2.28, 2.29
HW#2 3.1.{1,2,3,4,5}, 3.7, 3.11, 3.14,  4.3, 4.4, 4.9
HW#3 4.13, 4.17, 4.23, 4.24, 4.28, 4.29, 4.55.{1,2,3}
HW#4 5.10.1, 5.11.2, 5.15.1, 5.18,
HW#5 6.3, 6.14
HW#6 7.1.{1,2}, 7.8/7.9, 7.10.{1,2}, 7.11.{1,3}, 7.12