Automatique avancée – Vision et mécatronique (MRI)

This course aims to enable students to: Analysis of the behaviour of nonlinear systems. Placing linearization into a palace by return to state Design normal non-linear forms of observability.

Analysis in the state space of nonlinear systems 1 - Commandability and observability of non-linear systems by differential geometry methods 2 - Accurate linearization of commandable systems around a point, by closure,

3 - Observability of non-linear systems,

4 - Linearization of observable systems by injection of outputs,

5 - Stability and stabilization of non-linear systems.

Final review, authorized course documents and TDs, not authorized calculator.

i) Observer Design for Nonlinear Dynamic Systems: Differential Geometric Driss Boutat (Author), Gang Zheng Springer Nature Switzerland AG; 1st ed. 2021 edition (ii) Non linear control systems Isidori