NONLINEAR CONTROL TECHNIQUES
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.
CLAUDE MOOG (Presidente)