Rapid Prototyping of Nonlinear Controller Designs

In this funding period we have begun a large activity in developing software for nonlinear control systems design. The software is being evaluated and tested on numerous practical control systems design problems. We have also continued our activity in adaptive control of nonlinear systems, both adaptive regulation and adaptive tracking, as well as sliding mode control of nonlinear systems. We also began a project on the use of saturation functions for stabilizing systems which either had finite escape time or for which the presence of actuator constraints actually made the linearizing control laws difficult to implement.