Slotine Lectures on Nonlinear Systems

 

Lecture

Duration

Textbook and References

1. Introduction

1:14:56

Example 1.1, Sections 3.1, 3.2

2. Basic Lyapunov Theory

1:18:12

Sections 3.3,  3.4.1, 3.4.2

3. Lyapunov Stability Analysis

1:18:25

Section 3.4.3

4. Convergence to Invariant Sets

1:21:05

Sections 3.6 and 3.4.3

5. Stability of Time-Varying Systems

1:19:02

Sections 4.2 and 4.5

6. Sliding Variables

1:20:22

Section 7.1

7. Robust Control

1:17:52

Sections 7.2, 7.3

8. Adaptive Control

1:18:56

Chapter 8

9. Robust Adaptive Control

1:16:21

Exercise 8.8

10. Adaptive Robot Control

1:19:15

Chapter 9

11. Feedback Linearization

1:20:52

Section 6.1

12. Basic Differential Geometry Tools

1:18:39

Section 6.2

13. Controllability, Integrability, Backstepping

1:11:19

Section 6.3 and pp 258-262

14. Introduction to Contraction Analysis

1:20:22

R1

15. Basic Results in Contraction Analysis

1:18:39

R1, R2

16. Combinations of Contracting Systems

1:19:37

R1, R2

17. Virtual Systems

1:17:29

R3

18. Synchronization

1:15:36

R3, R4

19. Stable Invariant Subspaces, Polyrhythms

1:18:16

R4

20. How Synchronization Protects from Noise

1:13:43

R5

 

 

Textbook reference for lectures 1-13 is

 

Applied Nonlinear Control, Slotine and Li, Prentice-Hall 1991

 

Main references for lectures 14-20 are

 

R1    Lohmiller, W., and Slotine, J.J.E., "On Contraction Analysis for Nonlinear Systems," Automatica, 34(6), 1998

 

R2    Slotine, J.J.E., "Modular Stability Tools for Distributed Computation and Control," Int. J. Adaptive Control and Signal Processing, 17(6), 2003

 

R3    Wang, W., and Slotine, J.J.E., "On Partial Contraction Analysis for Coupled Nonlinear Oscillators," Biological Cybernetics, 92(1), 2005

 

R4    Pham, Q.C., and Slotine, J.J.E., "Stable Concurrent Synchronization in Dynamic System Networks," Neural Networks, 20(1), 2007

 

R5    Tabareau, N., Slotine, J.J.E., and Pham, Q.C., "How Synchronization Protects from Noise," PLoS Computational Biology 6(1), 2010