NONLINEAR CONTROL TECHNIQUES

NONLINEAR CONTROL TECHNIQUES

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Last update 01/07/2020 21:14
Code
86738
ACADEMIC YEAR
2020/2021
CREDITS
5 credits during the 1st year of 10635 ROBOTICS ENGINEERING (LM-32) GENOVA
SCIENTIFIC DISCIPLINARY SECTOR
ING-INF/04
LANGUAGE
English
TEACHING LOCATION
GENOVA (ROBOTICS ENGINEERING )
semester
2° Semester
Teaching materials

AIMS AND CONTENT

LEARNING OUTCOMES

Students are introduced to basic concepts from differential geometry and differential algebra which are instrumental for controllability and observability criteria. The course features control algorithms as the computed torque, popular in robotics, or feedback linearization. Basics from Lyapunov theory are reviewed and applied to control Lyapunov functions which are instrumental for practical robust control algorithms as sliding modes or backstepping.

TEACHERS AND EXAM BOARD

Exam Board

CLAUDE MOOG (President)

ENRICO SIMETTI (President Substitute)

RICCARDO MINCIARDI (President Substitute)

ORARI

L'orario di tutti gli insegnamenti è consultabile su EasyAcademy.