Spring 2022
Prof. Sukumar Srikant
Author: Vaibhav Upadhyay
Pre-requisite courses:SC 639, SC 202 & SC 301
Pre-requisite skills:This course has no strict prerequisites, and you can pick up any unfamiliar concepts as you go. While having a basic understanding of linear systems, stability, and control is advantageous, it’s not obligatory; you can learn these concepts along the way in the course.
Course Content:
- An introduction to vector fields, flows and integral curves of differential equations, affine-in-the control nonlinear systems, equilibria, notions of stability, La Salle`s invariance principle, feedback linearization, zero dynamics, controller design examples, distributions, integrable and involutive distributions
Motivation to take up the course: If you’ve always been intrigued by nonlinear controller design, this course is your ideal starting point
Quizzes/Midsem/Endsem papers Difficulty: 3/5
Level of effort [Level of effort you put into the course]: 4/5
Evaluation Structure: Assignments : 50% Mid-sem: 20% End-Sem: 30% “ Attendance Policy: No Compulsory Attendance
Info about Projects/Assignments: The course includes simulation assignments for applying nonlinear controllers to real-world systems such as a 2-DOF Robotic Manipulator and Spacecraft Attitude Control (Keep in mind that there simulation assignment carries a lot of weight).
Difficult level of Projects/Assignments [Difficuly]: 4/5
Feedback on Lectures (in terms of lecture delivery or ease of understanding, prof’s teaching style ): Prof. Sukumar Srikant is an amazing teacher. So, if you attend regularly you will enjoy the course for sure.
References OR online resources (E.g. drive link for recorded lecture videos etc.): “ https://www.youtube.com/playlist?list=PLDREIwGwrHBde_dGnQK_23idQQOvUV72q
General funda Its highly recommended to attend classes, especially for those new to rigorous mathematical courses. Last-night study can be very risky.
Who can take this course?:Anyone with an interest in nonlinear controls or those who got bored of linearizing the systems