COURSE UNIT TITLE

: NONLINEAR AND SLIDING MODE CONTROL

DEGREE PROGRAMMES

Description of Individual Course Units

Course Unit Code Course Unit Title Type Of Course D U L ECTS
MEC 5016 NONLINEAR AND SLIDING MODE CONTROL ELECTIVE 3 0 0 8

Offered By

Graduate School of Natural and Applied Sciences

Level of Course Unit

Second Cycle Programmes (Master's Degree)

Course Coordinator

PROFESSOR DOCTOR ZEKI KIRAL

Offered to

Mechatronics Engineering
M.Sc. Mechatronics Engineering
Mechatronics Engineering

Course Objective

This course aims to devolop students understanding of:
- How the phenomenological complexity of real-world dynamic systems appear in mathematically described terms
- How the non-linear dynamic systems and a class of control systems can be analysed via phase plane and Lyapunov stability approaches
- How the richness of non-linear dynamic phenomena can be exploited for high-performance control systems engineering design.

Learning Outcomes of the Course Unit

1   To distunguish the differences between non-linear systems and linear systems
2   To define the equations of non-linear systems
3   To describe the non-linear model of an engineering system
4   To design sliding-mode control system
5   To compare the effects of the different controller parameters on the system

Mode of Delivery

Face -to- Face

Prerequisites and Co-requisites

None

Recomended Optional Programme Components

None

Course Contents

Week Subject Description
1 Real-world dynamical systems and their conceptual and mathematical representation models
2 Second-order nonlinear dynamics and phase-plane analysis method 1: The concepts of phase plane analysis
3 Second-order nonlinear dynamics and phase-plane analysis method 2: Constructing and analysing phase-plane portraits
4 Second-order nonlinear dynamics and phase-plane analysis method 3: Phase-plane portraits in design analysis of servomechanisms
5 The existence of limit cycles: Boundary of linear system stability. Assignment of homework 1.
6 Fundamentals of Lyapunov stability theory 1: Concepts of stability, Lyapunov functions, and the direct method of Lyapunov
7 Fundamentals of Lyapunov stability theory 2: Topics on dynamic system analysis using the direct method of Lyapunov. Delivery of homework 1. Assignment of homework 2.
8 Fundamentals of Lyapunov stability theory 3: Control design based on the direct method of Lyapunov
9 Fundamentals of Lyapunov stability theory 3: Control design based on the direct method of Lyapunov
10 Mid-term
11 Advanced Lyapunov stability theory for nonautonomous systems. Delivery of homework 2.
12 Fundamentals of sliding-mode surfaces and variable structure systems
13 Filippov's equivalent dynamics and direct implementations of switching control laws
14 Engineering applications
15 Engineering applications

Recomended or Required Reading

Jaen-Jacques E. Slotine and Weiping Li, Applied Nonlinear Control, Prentice Hall, Englewood Cliffs, NJ, 1991 8ISBN 0-13-040890-5).

Planned Learning Activities and Teaching Methods

During the course, students will have two homeworks, one exam and one final exam.

Assessment Methods

SORTING NUMBER SHORT CODE LONG CODE FORMULA
1 ASG ASSIGNMENT
2 MTE MIDTERM EXAM
3 FIN FINAL EXAM
4 FCG FINAL COURSE GRADE ASG * 0.30 + MTE * 0.30 + FIN * 0.40
5 RST RESIT
6 FCGR FINAL COURSE GRADE (RESIT) ASG * 0.30 + MTE * 0.30 + RST * 0.40


Further Notes About Assessment Methods

None

Assessment Criteria

To be announced.

Language of Instruction

English

Course Policies and Rules

To be announced.

Contact Details for the Lecturer(s)

Prof.Dr. Zeki Kıral
email: zeki.kiral@deu.edu.tr

Office Hours

To be announced.

Work Placement(s)

None

Workload Calculation

Activities Number Time (hours) Total Work Load (hours)
Lectures 14 3 42
Preparations before/after weekly lectures 14 5 70
Preparation for final exam 1 20 20
Preparing assignments 2 25 50
Preparation for midterm exam 1 15 15
Midterm 1 3 3
Final 1 3 3
TOTAL WORKLOAD (hours) 203

Contribution of Learning Outcomes to Programme Outcomes

PO/LOPO.1PO.2PO.3PO.4PO.5PO.6PO.7PO.8PO.9PO.10PO.11PO.12PO.13PO.14PO.15
LO.1333
LO.2333
LO.3323
LO.4323
LO.5333

CONTACT INFORMATION
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Phone: +90(232) 412 12 12 - Fax: +90 (232) 464 81 35

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