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Upon completion of this course students will be able to
deal with control design for the systems with plant
nonlinearities. The subjects will include: Lyapunov
stability (Lyapunov direct method, BIBO systems,
passivity); frequency methods (describing function,
limit cycles, small gain theorem); motion control (1
dof systems, typical nonlinearities, friction, backlash,
dead zone, systems with discontinuities); MIMO
systems (converters and machines, robotic
manipulators control, mobile robots, trajectory
tracking, obstacle avoidance).
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