===== Lecture plan =====

The chapters refer to the textbook: Hassan K. Khalil, //Nonlinear Systems//, cf. [[http://www.itk.ntnu.no/emner/TTK4150|TTK4150]]

^Week^Dates^Topic^Literature^Comments|
|  34  | |  Preliminaries  |Appendix A|Important mathematical tools that will be used throughout the course.  |
| ::: | ::: |  Introduction  |Chapter 1|Nonlinear phenomena - how nonlinear systems are different from linear systems, and we therefore need new tools for analysis and control design.|
|  35  | 26.08.\\   \\  |  Fundamental properties  |Chapter 3: \\ 3.1  |Existence and uniqueness of solutions are no matter of course for nonlinear system dynamics, and have to be established to validate the system model.|
| ::: | ::: |  Second-order time-invariant systems  |Chapter 2: \\ 2.1-2.6|**Nonlinear analysis (and control design), start.** |
|  36  | |  Lyapunov stability  |Chapter 4: \\ 4.1-4.5 \\ Section 4.7: \\ Th. 4.15 \\ Cor. 4.3 \\   \\ Chapter 8: \\ 8.2-8.3|Including energy-based control design  |
|  37  |09.09.| ::: | ::: | ::: |
|  38  |16.09.| ::: | ::: | ::: |
|  39  |23.09.| ::: | ::: | ::: |
|  40  |30.09|  Input-to-State Stability (ISS) and Input-Output-Stability (IOS)  |Chapter 4: \\ 4.9 \\   \\ Chapter 5: \\ 5.1 and 5.4|Including cascaded control  |
|  41  | |  Study week - No lecture  |   |Study week: Start working on exams from previous years, in order to review and deepen your understanding and skills of the topics that we have worked on through Weeks 34 - 40.  |
|  42  |14.10|  Passivity-based control  |Chapter 6: \\ 6.1-6.2 \\ 6.4-6.5|**Nonlinear feedback control design:** The analysis tools found the basis for the control design. This is formalized in a number of design methods, including: \\ -Energy-based control design \\ -Cascaded control \\ -Passivity-based control design \\ -Feedback linearization \\ -Adaptive control \\ -Backstepping  |
|  43  |21.10.|  Passivity-based control design  |Chapter 14: \\ 14.4|   |
|  44  |28.10.|  Feedback linearization  |Chapter 13: \\ 13.1-13.2 \\ 13.4|   |
|  45  |04.11.|  Adaptive control  |Compendium \\   \\ Lavretsky and Wise: \\ Chapter 7| |
|  46  |11.11.|  Backstepping  |Chapter 14: \\ 14.3|   |

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