| Course title | Nonlinear control systems |
|---|---|
| Course code | KRP/IDSNR |
| Organizational form of instruction | no contact |
| Level of course | Doctoral |
| Year of study | not specified |
| Semester | Winter and summer |
| Number of ECTS credits | 0 |
| Language of instruction | Czech, English |
| Status of course | Optional |
| Form of instruction | Face-to-face |
| Work placements | This is not an internship |
| Recommended optional programme components | None |
| Lecturer(s) |
|---|
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| Course content |
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Lyapunov theory of stability for autonomous and non-autonomous systems. Input-output theory of stability. Passive systems. Feedback linearization. Mathematical model of a robot manipulator and its properties. Algorithms of control of robots based on Lyapunov theory of stability, dynamic inversion and exact linearization. Adaptive and robust control of robots.
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| Learning activities and teaching methods |
| Work with text (with textbook, with book) |
| Learning outcomes |
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The subject deals with the methods of analysis and synthesis of non-linear control systems, especially with focus on robot control algorithms.
Obtaining knowledge in the area of control of nonlinear dynamic systems, especially robots. |
| Prerequisites |
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Knowledge of differential and integral calculus, linear algebra and fundamentals of control theory.
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| Assessment methods and criteria |
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Oral examination
Examination |
| Recommended literature |
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| Study plans that include the course |
| Faculty | Study plan (Version) | Category of Branch/Specialization | Recommended semester | |
|---|---|---|---|---|
| Faculty: Faculty of Electrical Engineering and Informatics | Study plan (Version): Information, Communication and Control Technologies (2013) | Category: Electrical engineering, telecommunication and IT | - | Recommended year of study:-, Recommended semester: - |
| Faculty: Faculty of Electrical Engineering and Informatics | Study plan (Version): Information, Communication and Control Technologies (2013) | Category: Electrical engineering, telecommunication and IT | - | Recommended year of study:-, Recommended semester: - |
| Faculty: Faculty of Electrical Engineering and Informatics | Study plan (Version): Information, Communication and Control Technologies (2013) | Category: Electrical engineering, telecommunication and IT | - | Recommended year of study:-, Recommended semester: - |
| Faculty: Faculty of Electrical Engineering and Informatics | Study plan (Version): Information, Communication and Control Technologies (2013) | Category: Electrical engineering, telecommunication and IT | - | Recommended year of study:-, Recommended semester: - |