NONLINEAR SYSTEMS Sub.

Code: Hrs/week: Total Hrs: IA Marks: Exam Marks: Exam Hrs: 50 100 03

04 52

Introduction and Second-order Systems: Nonlinear models and nonlinear phenomena; examples. Qualitative behavior of limit systems; multiple equilibria; qualitative behavior of near equilibrium points; limit cycles; numerical construction of phase portraits; existence of periodic orbits; bifurcations. 8 hours Fundamental Properties: Existence and uniqueness; continuous dependence on initial conditions and parameters; differentiability of solutions and sensitivity; comparison principle. 5 hours Lyapunov Stability: Autonomous systems; invariance principle; linear systems and linearization; comparison functions; nonautonomous systems; linear time-varying systems and linearization; converse theorems; boundedness and ultimate boundedness; input-tostate stability. 10 hours Input-output Stability: L stability; L stability of state models; L2 gain; the small-gain theorem. 5 hours Passivity: Memoryless functions; state models; positive real transfer functions; L2 and Lypaunov stability; passivity theorems. 5 hours Frequency Domain Analysis: Absolute stability; circle criterion; Popov criterion; describing function method. 6 hours Advanced Stability Analysis: Centre manifold theorem; region of attraction; invariancelike theorems; stability of periodic solutions. 5 hours Stabilization: Control problems; stabilization via linearization; input-output linearization; full-state linearization; sliding mode control. 8 hours References: 1) Hassan K. Khalil, Nonlinear Systems, 3rd edition, Prentice-Hall, 2002. 2) M. Vidyasagar, Nonlinear Systems, 2nd edition, SIAM, 2002. 3) A. Isidori, Nonlinear Control Systems, 3 rd edition, Springer, 1995. 4) Shankar Sastry, Nonlinear Systems: Analysis, Stability and Control, Springer, 1999. 5) Arjan van der Schaft, L2-gain and Passivity Techniques in Nonlinear Control, Springer, 1996.