Calendar
Introduction to Nonlinear Systems
- Jan 13
- 1 - Intro to Nonlinear Systems
- Jan 15
- 2 - Nonlinear Phenomena
Second-Order Systems
- Jan 20
- 3 - Periodic Orbits in the Plane
- Jan 22
- 4 - Periodic Orbits in the Plane Continued
- Jan 27
- 5 - Bifurcations
- Jan 28
- HW 1 due
Stability Analysis
- Jan 29
- 6 - Center Manifold Theory
- Feb 3
- 7 - Existence and Uniqueness Theorems for ODEs
Lyapunov Stability
- Feb 5
- 8 - Lyapunov Stability Theory
- Feb 10
- 9 - LaSalle-Krasovskii Invariance Principle
- Feb 12
- 10 - Lyapunov’s Linearization
- Feb 17
- 11 - Time-Varying Systems
- Feb 18
- HW 2 due
- Feb 19
- 12 - Backstepping
- Feb 24
- 13 - Exam 1 Review
- Feb 26
- Exam 1
Feedback Control
- Mar 3
- 14 - Introduction to Feedback Linearization
- Mar 5
- 15 - Feedback Linearization 1
- Mar 10
- 16 - Feedback Linearization 2
- Mar 12
- 17 - Feedback Linearization 3
- Mar 17
- 18 - Feedback Linearization 4
- Mar 18
- HW 3 due
Optimization-Based Control
- Mar 19
- 19 - Control Lyapunov Functions
- Mar 24
- No class - Spring Break
- Mar 26
- No class - Spring Break
- Mar 31
- 20 - A Primer on Convex Optimization
- Apr 2
- 21 - Classes of Convex Optimization Problems
Safety-Critical Control
- Apr 7
- 22 - Barrier Functions
- Apr 9
- 23 - Control Barrier Functions
- Apr 14
- 24 - Higher Order Control Barrier Functions
- Apr 15
- HW 4 due
- Apr 16
- 25 - Exam 2 Review
- Apr 21
- Exam 2
Hybrid Systems for Bipedal Locomotion
- Apr 23
- 26 - Hybrid Systems and Zero Dynamics
- Apr 28
- Final Project Due