Analisi E Sintesi Dei Sistemi Non Lineari 2026/2027

• Introduction: existence of solutions for differential equations. • Equilibria and Stability • Lyapunov theorem. • Example of Lyapunov theorems. • Chetaev Theorem(Th 4.3, HK third edition). • LaSalle's theorem and for linear systems (continuous and discrete time). • Converse Lyapunov theorems. Time varying systems. Class K e KL functions. • Stability for time varying systems. • Linear time varying systems. Uniform asymptotic stability. • Ultimate boundedness. Input to State Stability. • Geometric control (distributions, normal form, feedback linearization) • High gain observers. • Certainty equivalent controllers with high gain osbervers. • Forwarding control. • Forwarding control without PDE. • Backstepping control. • Optimization based Observers. • Introduction to passivity: storage function, strictly) positive real (PR,KYP) systems. • Interconnection of passive systems. • Circle and Popov criteria. • Sliding mode control . • Introduction to Immersion and Invariance (I&I) techniques. • Introduction to switching controllers. • Passivity based controller design • Stabilization in case of partial information (I&I, pag. 137-157). • Flight controller based on I&I.

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