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Lecturer
Lecturer
Timing and Structure
Lent term. 14 lectures + 2 computer lab sessions. Assessment: 100% coursework
Prerequisites
3F2 assumed.
Aims
The aims of the course are to:
- introduce fundamental concepts from nonlinear dynamic systems
- introduce techniques for the analysis and control of nonlinear and multivariable systems.
Objectives
As specific objectives, by the end of the course students should be able to:
- apply standard analysis and design tools to multivariable and nonlinear feedback systems.
- appreciate the diversity of phenomena in nonlinear systems.
Content
Part I. ROBUST CONTROL (7L + 1 Computer Lab session, Prof F Forni)
1. Uncertainty and Nonlinearity in control systems: simple models.
2. Signal spaces and system gains.
3. The small-gain theorem and the passivity theorem. Phase versus gain uncertainties
4. Dissipativity theory
5. Robust stability and performance. Stability margins.
6. An introduction to H-infty control.
7. Gap metrics
PART 2: NONLINEAR SYSTEMS (7L + 1 computer lab session, Prof F Forni and Dr T Chaffey)
1. Small and large signal analysis. Contractive systems. Fading memory operators.
2. State-space analysis and Nyquist. Differential stability. Differential dissipativity. Differential circle criterion.
3. Feedback systems: simple models.
4. Phase portrait analysis.
5. Analysis and design of switches and clocks. Robust differential control.
6. Monotone systems. Scale relative graphs (SRGs). Applications in biology.
7. Describing function analysis.
Further notes
ASSESSMENT
Coursework only.
Coursework
| Coursework | Format |
Due date & marks |
|---|---|---|
|
[Coursework activity #1 Robust control of haptic interfaces Coursework 1 brief description Learning objective:
|
Individual Report anonymously marked |
23 February 2024 [30/60] |
|
[Coursework activity #2 Feedback oscillations control ] Coursework 2 brief description Learning objective:
|
Individual Report anonymously marked |
22 March 2024 [30/60] |
Booklists
Please refer to the Booklist for Part IIB Courses for references to this module, this can be found on the associated Moodle course.
Examination Guidelines
Please refer to Form & conduct of the examinations.
UK-SPEC
This syllabus contributes to the following areas of the UK-SPEC standard:
Toggle display of UK-SPEC areas.
GT1
Develop transferable skills that will be of value in a wide range of situations. These are exemplified by the Qualifications and Curriculum Authority Higher Level Key Skills and include problem solving, communication, and working with others, as well as the effective use of general IT facilities and information retrieval skills. They also include planning self-learning and improving performance, as the foundation for lifelong learning/CPD.
IA1
Apply appropriate quantitative science and engineering tools to the analysis of problems.
IA2
Demonstrate creative and innovative ability in the synthesis of solutions and in formulating designs.
KU1
Demonstrate knowledge and understanding of essential facts, concepts, theories and principles of their engineering discipline, and its underpinning science and mathematics.
KU2
Have an appreciation of the wider multidisciplinary engineering context and its underlying principles.
D1
Wide knowledge and comprehensive understanding of design processes and methodologies and the ability to apply and adapt them in unfamiliar situations.
D4
Ability to generate an innovative design for products, systems, components or processes to fulfil new needs.
E1
Ability to use fundamental knowledge to investigate new and emerging technologies.
E2
Ability to extract data pertinent to an unfamiliar problem, and apply its solution using computer based engineering tools when appropriate.
E3
Ability to apply mathematical and computer based models for solving problems in engineering, and the ability to assess the limitations of particular cases.
E4
Understanding of and ability to apply a systems approach to engineering problems.
P1
A thorough understanding of current practice and its limitations and some appreciation of likely new developments.
P3
Understanding of contexts in which engineering knowledge can be applied (e.g. operations and management, technology, development, etc).
US1
A comprehensive understanding of the scientific principles of own specialisation and related disciplines.
US2
A comprehensive knowledge and understanding of mathematical and computer models relevant to the engineering discipline, and an appreciation of their limitations.
Last modified: 04/01/2024 15:40