Nonlinear and Adaptive Control

Nonlinear dynamics: Euler-Lagrange equations, Hamilton’s principle, variational calculus; nonlinear systems: fundamentals, examples, stability Notions, linear systems and linearization, frequency domain analysis, discrete time systems, absolute stability, input-to-state stabililty, control design: control Lyapunov functions, sliding mode control, control barrier functions; adaptive control: self-tuning regular, model reference adaptive control, feedback linearization, extremum seeking control, model predictive control, observer design: extended, unscented, and mixture model Kalman filters, moving horizon estimation, high-gain observers; repetitive processes: iterative learning control, learning-adaptive control, repetitive control; optimal control: continuous setting, discrete time setting, constrained optimal control, linear matrix inequality (LMI) constraints, dynamic programming and backward recursion.