525.764.3VL - Nonlinear Controls

Course Structure

The course materials are divided into modules which can be accessed by selecting Modules on the course navigation menu. A module will have several sections including the overview, content, readings, discussions, and assignments. You are encouraged to preview all sections of the module before starting. Most modules run for a period of seven (7) days, exceptions are noted in the Course Outline. You should regularly check the Calendar and Announcements for assignment due dates.

Course Topics

• Introduction to Nonlinear Control Theory
• Fundamentals of Lyapunov Control Theory Part 1
• Fundamentals of Lyapunov Control Theory Part 2
• Nonlinear Control Techniques
• Midterm Exam 1
• Feedback Linearization Part 1
• Feedback Linearization Part 2
• Sliding Mode Control
• Adaptive Control Part 1
• Midterm Exam 2
• Adaptive Control Part 2
• Practical Applications
• Advanced Topics
• Course Project

Course Goals

To understand and be able to explain the properties of nonlinear systems as well as the mathematical foundation of nonlinear control. To be able to determine the stability of nonlinear systems. To be able to apply various nonlinear control techniques and to understand the strengths and weaknesses of each.

Course Learning Outcomes (CLOs)

• Explain the properties of nonlinear systems, specifically with regards to equilibrium points and stability.
• Apply Lyapunov theory to determine the stability characteristics of nonlinear systems.
• Utilize nonlinear design techniques such as describing functions, bounding, and completing squares.
• Design nonlinear controllers using techniques such as adaptive control, feedback linearization, and sliding mode control.
• Construct Lyapunov functions to prove stability of designed controllers.
• Apply nonlinear controller techniques to practical applications.

Textbooks

Slotine, J.-J. E. (1991). Applied nonlinear control. Prentice Hall

Required Software

MATLAB 

You will need access to a recent version of MATLAB. A license is provided at no cost to you, through JHU. 

Visit the JHU IT Services Portal. Log in with your JHED ID and type “Matlab” in the search bar. Click on “Matlab for Students” in the search results and follow the instructions provided.

Student Coursework Requirements

It is expected that each module will take approximately 7–10 hours per week to complete. Here is an approximate breakdown: reading the assigned sections of the texts (approximately 3–4 hours per week), listening to the audio annotated slide presentations (approximately 2–3 hours per week), and assignments (approximately 2–3 hours per week). 

This course will consist of the following basic student requirements: 

Participation (5% of Final Grade Calculation) 

Post your response to the module discussion questions by the evening of Day 5 for that module. This is a completion grade – do, or do not, there is no try. 

Assignments (25% of Final Grade Calculation) 

Assignments will include a mix of questions designed to assess your understanding of the material as well as problem solving skills. Include a cover sheet with your name and assignment identifier. Also include your name and a page number indicator (i.e., page x of y) on each page of your submissions. 

All assignments are due according to the dates in the Calendar. 

Late submissions will not be accepted without prior coordination. 

Each question will be graded out of 5 points. An honest attempt to answer the question will result in at least 2 points. Afterwards the grading will be as follows: 

• 5: All parts of the question are addressed; All assumptions are clearly stated; All intermediate derivations and calculations are provided; Answer is technically correct and is clearly indicated; Answer precision and units are appropriate; Minor bookkeeping errors that don’t impact the end result will be tolerated. 

• 4: Most parts of the question are addressed; All assumptions are clearly stated; Some intermediate derivations and calculations are provided; Answer is technically correct and is indicated; Answer precision and units are appropriate. 

• 3: Some parts of the question are addressed; Assumptions are not stated; Intermediate derivations and calculations are not provided; The answer is incorrect or missing; The answer precision and units are inappropriate or missing. 

Course Project (30% of Final Grade Calculation) 

A course project will be assigned after the second mid-term exam. It will be due prior to the last module and presented during the lecture. The grading breakdown of the Project will be provided at that time. 

Exams (40% of Final Grade Calculation, 20% Each) 

The first midterm exam will be during Module 5 and the second midterm exam will be during Module 10. The exam will be assigned at the beginning of our synchronous session and you have until the end of our synchronous session to submit your work. The exam will be out of 100 points, with each question being worth a portion of the total based on complexity. The number of points for each problem will be specified. You may use the course text to complete the exams. Exams will be graded as per the homework with the points assigned being proportional to the problem. 

Grading Policy

Assignments are due according to the dates posted in your course site. You may check these due dates in the Course Calendar or the Assignments in the corresponding modules. I will post grades one week after assignment due dates.

I will never grade spelling and grammar. However, the easier it is for me to understand your work, the easier it is to give partial credit and provide feedback.

A grade of A indicates achievement of consistent excellence and distinction throughout the course—that is, conspicuous excellence in all aspects of assignments and discussion in every week.

A grade of B indicates work that meets all course requirements at a level appropriate for graduate academic work. These criteria apply to both undergraduates and graduate students taking the course.

Final grades will be determined by the following weighting:

Academic Policies

Deadlines for Adding, Dropping and Withdrawing from Courses

Students may add a course up to one week after the start of the term for that particular course. Students may drop courses according to the drop deadlines outlined in the EP academic calendar (https://ep.jhu.edu/student-services/academic-calendar/). Between the 6th week of the class and prior to the final withdrawal deadline, a student may withdraw from a course with a W on their academic record. A record of the course will remain on the academic record with a W appearing in the grade column to indicate that the student registered and withdrew from the course.

Academic Misconduct Policy

All students are required to read, know, and comply with the Johns Hopkins University Krieger School of Arts and Sciences (KSAS) / Whiting School of Engineering (WSE) Procedures for Handling Allegations of Misconduct by Full-Time and Part-Time Graduate Students.

This policy prohibits academic misconduct, including but not limited to the following: cheating or facilitating cheating; plagiarism; reuse of assignments; unauthorized collaboration; alteration of graded assignments; and unfair competition. Course materials (old assignments, texts, or examinations, etc.) should not be shared unless authorized by the course instructor. Any questions related to this policy should be directed to EP’s academic integrity officer at ep-academic-integrity@jhu.edu.

Students with Disabilities - Accommodations and Accessibility

Johns Hopkins University values diversity and inclusion. We are committed to providing welcoming, equitable, and accessible educational experiences for all students. Students with disabilities (including those with psychological conditions, medical conditions and temporary disabilities) can request accommodations for this course by providing an Accommodation Letter issued by Student Disability Services (SDS). Please request accommodations for this course as early as possible to provide time for effective communication and arrangements.

For further information or to start the process of requesting accommodations, please contact Student Disability Services at Engineering for Professionals, ep-disability-svcs@jhu.edu.

Student Conduct Code

The fundamental purpose of the JHU regulation of student conduct is to promote and to protect the health, safety, welfare, property, and rights of all members of the University community as well as to promote the orderly operation of the University and to safeguard its property and facilities. As members of the University community, students accept certain responsibilities which support the educational mission and create an environment in which all students are afforded the same opportunity to succeed academically. 

For a full description of the code please visit the following website: https://studentaffairs.jhu.edu/policies-guidelines/student-code/

Classroom Climate

JHU is committed to creating a classroom environment that values the diversity of experiences and perspectives that all students bring. Everyone has the right to be treated with dignity and respect. Fostering an inclusive climate is important. Research and experience show that students who interact with peers who are different from themselves learn new things and experience tangible educational outcomes. At no time in this learning process should someone be singled out or treated unequally on the basis of any seen or unseen part of their identity. 
 
If you have concerns in this course about harassment, discrimination, or any unequal treatment, or if you seek accommodations or resources, please reach out to the course instructor directly. Reporting will never impact your course grade. You may also share concerns with your program chair, the Assistant Dean for Diversity and Inclusion, or the Office of Institutional Equity. In handling reports, people will protect your privacy as much as possible, but faculty and staff are required to officially report information for some cases (e.g. sexual harassment).

Course Auditing

When a student enrolls in an EP course with “audit” status, the student must reach an understanding with the instructor as to what is required to earn the “audit.” If the student does not meet those expectations, the instructor must notify the EP Registration Team [EP-Registration@exchange.johnshopkins.edu] in order for the student to be retroactively dropped or withdrawn from the course (depending on when the "audit" was requested and in accordance with EP registration deadlines). All lecture content will remain accessible to auditing students, but access to all other course material is left to the discretion of the instructor.