Nonlinear and Adaptive Control
Instructor: Daniel Liberzon
Office: 144 CSL
Email: liberzon at uiuc.edu
Phone: (217) 244-6750
Schedule: Tue Thu 12:00-1:20pm, 169 Everitt Lab.
Office hours: Tue 4-6pm, 144 CSL.
Prerequisite: ECE 415 (Linear Systems) or consent of instructor. Basic knowledge of real analysis (at the level of Math 344) is also expected.
Textbook: P. A. Ioannou, J. Sun, Robust Adaptive Control, Prentice-Hall, 1996. Note: The book is out of print but is downloadable from the author's website (PDF file, 4MB). Selected excerpts will be handed out in class.
Supplementary text: M. Krstic, I. Kanellakopoulos, P. V. Kokotovic, Nonlinear and Adaptive Control Design, Wiley, New York, 1995.
Assignments and grading policy: Your grades will be
based on homework and final projects. There will be
no exams in this course. The presentations of final projects will
be held at the time of the official final exam.
PROJECT INFO / EXTRA READING
1. Introduction: what is adaptive control and what is this course about?
2. Background: stability (Ioannou-Sun, Chapter 3), optimization (Ioannou-Sun, Appendix B).
3. Parameter estimation (Ioannou-Sun, Chapter 4).
4. Parameter identifiers and adaptive observers (Ioannou-Sun, Chapter 5).
5. Model reference adaptive control (Ioannou-Sun, Chapter 6).
6. Adaptive regulation and pole placement (Ioannou-Sun, Chapter 7).
7. Switching adaptive control (materials will be handed out in class).