This page contains my lecture outline and notes for a set of lectures that I will be giving in CDS 140b Introduction to Dynamics, in Winter 2008. This page is mainly intended as a place for me to keep my notes, but might be useful as a reference for the lecture (the final lecture notes will be posted on the CDS 140 web page).
Goals
 Describe how bifurcations and limit cycles arise in engineering applications
 Review some tools for characterizing bifurcations and limit cycles
 Show how feedback can be used for design of (nonlinear) dynamics
Lecture 1: Introduction and review
Outline
 Introduction and applications [30 m, slides]
 Brief review of stability and bifurcations [20 m, slides]
 Review of bifurcations: pitchfork, Hopf, sub/super critical
 Example: rotating stall and surge
 Stabilization to an equilibrium point [20 m, board]
 Review of Lyapunovbased stabilization: CLFs, Sontag's formula
 Strongly nonlinear systems (if time)
 Looking forward [10 m, slides]
 Actuator limits
 Nonequilibrium behavior
 Project ideas

Lecture Materials
Reading

Notes
 This lecture is intended to serve as an introduction to the material that will be covered in the set of lectures, including motivating applications
 Need to figure out how to cover project ideas in this lecture, since students who want to work on the project would need to get started soon (so this can't wait until the last lecture)
Not sure how much normal form material is going to be required. Look through Liaw/Abed + Wang/Murray to get a sense. I also need to find a good source for this Looks like I don't need normal forms at all, so I'm skipping this.
 The review of Lyapunovbased stabilization is intended to show simple techniques for control of bifurcations in a nonlinear setting. Plan to cover Sontag's formula, which students often don't see in other contexts.
 Use VKI presentations for the introductory material
Lecture 2: Control of bifurcations
Outline
 Analysis of the MooreGreitzer model [20 m; board]
 Review of the model (form + polynomials)
 Nonlinear analysis (standard CDS 140a tools)
 Control of bifurcations [20 m; board]
 Normal form for control of bifurcations
 Abed and Fu: bifurcation controllability (if time)
 Effects of actuation limits [20 m; board]
 Magnitude limits
 Rate limits
 Implementation and applications [20 m; slides]
 Actuation mechanisms: bleed valves, air injection
 Experimental results from Caltech rig

Lecture Materials
Reading

Notes
 This lecture will be based on the second VKI lecture, but need to add in more complete derivations of the results
 Work through Liaw and Abed paper in some detail (blackboard), then cover Yong Wang's results
using powerpoint
 Finish up with implementation results, including
the story of IHPTET program + Caltech experimental results
Lecture 3: Control of limit cycles
Outline
 Motivating example: combustion instabilities [20 m; board]
 Review of the essential physics
 Culick model + dynamical systems analysis
 Bifurcation control of limit cycles [15 m; board]
 Extension of Abed and Fu/Wang & M results to Hopf
 Geometric version of results
 Harmonic balance [20 m; board]
 State space derivation, with time delays
 Implementation and applications [20 m; slides]
 Actuation mechanisms: speakers versus fuel modulation
 UTRC experimental results + other applications

Lecture Materials
Reading
 Y. Wang and R. M. Murray, A geometric perspective on bifurcation control. Conference on Decision and Control, 2000.
 R. M. Murray, C. A. Jacobson, R. Casas, A. I. Khibnik, C. R. Johnson Jr, R. bitmead, A. A. Peracchio and W. M. Proscia, System Identification for Limit Cycling Systems: A Case Study for Combustion Instabilities. American Control Conference, 1998.

Notes
Current plan for this lecture is to cover Clancy Rowley's thesis results as the main topic, but with results from combustion instabilities integrated in Results are a bit too linear; use combustion instabilities as well, with cavity flow as example application
 An important element of this lecture is the use of gray box modeling techniques: talk about how to pull out nonlinearities in useful ways
Describing functions would be nice to use here, but not sure if someone has already done this (so that the results are worked out). Most likely, I'll just Introduce the idea of describing functions (via harmonic balance) here and then use lecture 4 to cover the full details
Lecture 4: Describing function analysis
Outline
 Describing functions [20 m; board]
 Review of the basic approach (nonrigorous)
 Examples: input saturation, relay control
 Stability of limit cycles
 Theory [30 m; board]
 Review of Mees formulation (from CDS 221)
 Random input describing functions [20 m; board]
 Description of method
 Application: combustion instabilities
 Wrap up [10 m; slides]
 Summary of results from lectures
 Discussion of open problems in nonlinear control

Lecture Materials
Reading
 K. J. Åström and R. M. Murray, Feedback Systems: An Introduction for Scientists and Engineers, Princeton University Press, 2008. Chapter 9  Frequency Domain Analysis. (Section 9.5, Describing functions)
 A. I. Mees, Describing Functions: Ten Years On. IMA Journal of Applied Mathematics, 32:221233, 1984.
 A. Banaszuk, P. G. Mehta, C. A. Jacobson, A. I. Khibnik, Limits of Achievable Performance of Controlled Combustion Processes. IEEE T. Control Systems Technology, 14(5):881895, 2006.
 A. Gelb and W. E. Vander Velde. MultipleInput Describing Functions and Nonlinear System Design. McGraw Hill, 1968 (online version available here)

Notes
 Current plan is to use some of the notes from CDS 221 from the year when we covered describing functions. I need to dig these notes up and digitize them.
 If there is time, I'd like to convert this material into some supplemental notes that can be posted on the AM08 wiki page.
Homework and Project Ideas