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Analysis and Design of Non-linear Control - ELEC9732
 ELEC9732

   
   
 
Course Outline: http://www.ee.unsw.edu.au
 
 
Campus: Kensington Campus
 
 
Career: Postgraduate
 
 
Units of Credit: 6
 
 
EFTSL: 0.12500 (more info)
 
 
Indicative Contact Hours per Week: 3
 
 
Excluded: ELEC9422
 
 
Fee Band: 2 (more info)
 
 
Further Information: See Class Timetable
 
  

Description

UOC6 HPW3
The course is taught in two halves. The first half covers basic nonlinear control, design and analysis. The second half is devoted to robotic applications. The nonlinear control will cover topics drawn from analysis and design. Analysis includes: general state description of nonlinear systems, linearisation techniques, Lyapunov stability, constrained linear systems, constrained optimisation, multimode control. Design includes: actuator saturation, linearisation and gain scheduling, feedforward control, interactions and LQG control, sliding mode control, adaptive control. The above will be developed with illustrative simulation studies and CAD, and both physical modelling and systems identification will be covered. The robotics material will cover topics drawn from: manipulator kinematics and dynamics, velocity propagation and Jacobians, linear and nonlinear control of manipulators.


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© The University of New South Wales (CRICOS Provider No.: 00098G), 2004-2011. The information contained in this Handbook is indicative only. While every effort is made to keep this information up-to-date, the University reserves the right to discontinue or vary arrangements, programs and courses at any time without notice and at its discretion. While the University will try to avoid or minimise any inconvenience, changes may also be made to programs, courses and staff after enrolment. The University may also set limits on the number of students in a course.