Master TR-NQF-HE: Level 7 QF-EHEA: Second Cycle EQF-LLL: Level 7

Course Introduction and Application Information

Course Code Course Name Semester Theoretical Practical Credit ECTS
MCH5315 Nonlinear Control Spring 3 0 3 6
The course opens with the approval of the Department at the beginning of each semester

Basic information

Language of instruction: En
Type of course: Departmental Elective
Course Level:
Mode of Delivery: Face to face
Course Coordinator : Dr. Öğr. Üyesi KHALİD SEYED SAYEED ABİDİ
Course Objectives: The course is designed to acquaint students with the techniques in the analysis and design of nonlinear control systems. In recent years, the availability of powerful low-cost microprocessors has spurred great advances in the theory and applications of nonlinear control. Many practical nonlinear control systems have been developed, ranging from
digital “fly-by-wire” flight control systems for aircraft, to “drive-by-wire” automobiles, to advanced robotic and space systems. The subject of nonlinear control is occupying an increasingly important place in automation control engineering, autonomous mobile robotics, and has become a necessary part of the fundamental background of many
engineering subjects. Students will be able to use tools for the stability analysis of nonlinear systems, with
emphasis on Lyapunov’s method. Nonlinear feedback control tools include linearization, feedback linearization, Lyapunov redesign, and backstepping. The
goal is to provide tools and methods that will enable students to analyze and control
complex engineering systems.

Learning Outputs

The students who have succeeded in this course;
I. Describe nonlinear dynamic systems
II. Demonstrate on finding a small signal linear model of a nonlinear system at an operating point
III. Model dynamic systems containing time delay
IV. Obtain a model of a physical system by using the least squares approach
V. Analyze, design, and synthesize nonlinear control systems using Lyapunov
VI. Demonstrate skills to use MATLAB and SIMULINK in the analysis, design, simulation, and real time implementation of nonlinear control systems

Course Content

Methods for analysis and design of nonlinear control systems emphasizing Lyapunov theory. Second order systems, phase plane descriptions of ononlinerar phenomena, limit cycles, stability, direct and indirect method of Lyapunov, linearization, feedback linearization, Lyapunov-based design, and backstepping.

Weekly Detailed Course Contents

Week Subject Related Preparation
1) Introduction and Second-Order Systems
2) Second-Order Systems (Contd.)
3) Fundamental Properties and Stability
4) Stability Analysis (Contd.)
5) Frequency Domaim Analysis
6) Feedback Control
7) Nonlinear Controllers: SMC
8) Nonlinear Controllers: Lyapunov Redesign
9) Nonlinear Controllers: Adaptive Control
10) Nonlinear Controllers: Backstepping
11) Nonlinear Controllers: Fuzzy Control
12) Nonlinear Controllers: H2 and H∞ Control
13) Nonlinear Controllers: High Gain Observers
14) Review


Course Notes: Hassan K. Khalil, Nonlinear Systems, 3rd edition, Prentice Hall.
References: Yok

Evaluation System

Semester Requirements Number of Activities Level of Contribution
Attendance 14 % 0
Laboratory 0 % 0
Application 0 % 0
Field Work 0 % 0
Special Course Internship (Work Placement) 0 % 0
Quizzes 0 % 0
Homework Assignments 5 % 20
Presentation 0 % 0
Project 1 % 20
Seminar 0 % 0
Midterms 1 % 20
Preliminary Jury % 0
Final 1 % 40
Paper Submission % 0
Jury % 0
Bütünleme % 0
Total % 100
Total % 100

ECTS / Workload Table

Activities Number of Activities Duration (Hours) Workload
Course Hours 14 3 42
Laboratory 0 0 0
Application 0 0 0
Special Course Internship (Work Placement) 0 0 0
Field Work 0 0 0
Study Hours Out of Class 14 6 84
Presentations / Seminar 0 0 0
Project 1 40 40
Homework Assignments 5 5 25
Quizzes 0 0 0
Preliminary Jury 0
Midterms 1 2 2
Paper Submission 0
Jury 0
Final 1 3 3
Total Workload 196

Contribution of Learning Outcomes to Programme Outcomes

No Effect 1 Lowest 2 Low 3 Average 4 High 5 Highest
Program Outcomes Level of Contribution
1) Gains an academic background and abilities for making scientific research; analysis, interpretation and application of knowledge in subjects of Mechatronics Engineering.
2) Acquires an ability to select, apply and develop modern techniques and methods for mechatronics engineering applications.
3) Develops new and innovative ideas, procedures and solutions in the design of mechatronics systems, components and processes.
4) Gains an ability for experimental design, data accumulation, data analysis, reporting and implementation.
5) Acquires abilities for individual and team-work, communication and collaboration with team members and interdisciplinary cooperation.
6) Gains an ability to communicate effectively oral and written; and a knowledge of English sufficient to follow technical developments and terminology.
7) Acquires recognition of the need for, and an ability to access and report knowledge, to engage in life-long learning.
8) Gains an understanding of universal, social and professional ethics.
9) Acquires a knowledge of business-oriented project organization and management; awareness of entrepreneurship, innovation and sustainable development
10) Gains awareness for the impact of mechatronics engineering applications on human health, environmental, security and legal issues in a global and social context.