## Lesson schedule and links for a.a. 2021-2022

### Zoom link for remote lessons:

https://uniroma1.zoom.us/j/85180021575

ID riunione: 851 8002 1575

Connection opens at 10 a.m., lesson starts at 10.15 a.m., 15-minutes break at 11.45 a.m. and finally lesson ends at 12.45 a.m.

## Syllabus

Stability of time-varying systems:
Basics on the stability of
continuous time-varying systems:. Uniform and exponential stability of equilibrium points, direct and converse Lyapunov theorems, invariance theorems. Barbalat Lemma. Construction of Lyapunov functions.

Basics on identification problems. Parameter identification: least squares, gradient and normalized gradient algorithms. Persistent excitation and parameter convergence. Model reference identifiers. Frequency domain conditions for paramater convergence. Elements of adaptive control.

## Textbooks and Notes

### I. Notes

1^ Module Mathematical tools: norms, usefule inequalities, K, L, KL class functions
2^ Module Stability of nonlinear time-varying systems: definitions and direct theorems. Lyapunov functions.
3^ Module
Exponential stability of linear time-varying systems: direct and converse theorems. Exponential stability of a nonlinear time-varying system and its linearization.
4^ Module Stability of nonlinear time-varying systems: converse theorems. Existence and construction of Lyapunov functions using  system's trajectories.
5^ Module Invariance theorems: LaSalle theorem and Barbalat lemma
. UCO (uniform complete observability) property. Invariance of UCO property under output injection.
7^ Module Stability analysis of adaptive estimators. Persistency of excitation and parameter error convergence.

### Supplementary Textbooks (optional)

H.K.Khalil, Nonlinear Systems, McMillan Publishing Company, 1992.
S. Sastry, M. Bodson, Adaptive control (stability, convergence and robustness), Prentice Hall, 1989.

### Video Lessons

Topic: Advanced Methods in Control (a.a. 2020-2021)
Date: May 7, 2021 10:12 AM Rome

https://uniroma1.zoom.us/rec/share/hLwegZs0lKYBMVlw0oBSTj9s
_9b9hbtpzS117x7xhzt4thoNKD0R89iNtG-fwrEn.niXdYHelwgpgYX50

Passcode: ymnTQ.8V

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Topic: Advanced Methods in Control (a.a. 2020-2021)
Date: Apr 30, 2021 10:01 AM Rome

https://uniroma1.zoom.us/rec/share/cuTLNn7DP9oWLoZe7r9KHJD
_w160exyx8pBgMgNJxfVlQFostKc3Bb8juRXCBxtw.iYIYOud2rW4v0Cz_

Passcode: Wzyk6#x!

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Topic: Advanced Methods in Control (a.a. 2020-2021)

Date: Apr 23, 2021 09:59 AM Rome

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Topic: Advanced Methods in Control (a.a. 2020-2021)
Date: Apr 16, 2021 10:15 AM Rome

Passcode: UJ@yw2MA

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Topic: Advanced Methods in Control (a.a. 2020-2021)
Date : 9 apr 2021 09:55 AM

https://uniroma1.zoom.us/rec/share/XJKPNmge2eHCtCxZ-rf2TZpLKxNWNSD6zVNfS_30gcXZAWO8rM-4vcz0fJQHFlC9.M6PSQ1EwM5FqwTUC

Passcode ?RTFjA#3

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Topic: Advanced Methods in Control (a.a. 2020-2021)
Date: Mar 26, 2021 09:59 AM Rome

https://uniroma1.zoom.us/rec/share/AHa37JI1N4fcy0EaOWPrdMq5aaAZxQFRpRV4hyUmPUM7ohbsqi
_pys8sele-67SG.tcQNvDQDsAcbArzS

Passcode: 6Xi7PtN
.

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Topic: Advanced Methods in Control (a.a. 2020-2021)
Date: Mar 19, 2021 09:58 AM Rome

https://uniroma1.zoom.us/rec/share/0XlUSke2ipWAMf9f3ZAsm1X5qlHm
LMTJDXo2srjZ7VjyI1neEyL9LjgO1kceXCGZ.nnwUL08I9UMAv0ej

Passcode: .t2YgziV

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Topic: Advanced Methods in Control (a.a. 2020-2021)
Date: Mar 12, 2021 10:10 AM Rome

https://uniroma1.zoom.us/rec/share/UsMtywSMaUkLnkf4FzOhKH2-vjzfHgJJ7MYN31eBkfeJ30w4PbPf8k-p9umNQWaZ.RKySPjKzA9S2zb2S

Passcode: +@g0*9Kx

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Topic: Advanced Methods in Control (a.a. 2020-2021)
Date: Mar 5, 2021 10:08 AM Rome

https://uniroma1.zoom.us/rec/share/uR3YJblpXDAUov6scJFRzY7W5S_wKi-N60SBp3hJh27CC-FQBfDMNdDDMUxPUn1Z.N8x-qT0yNoTplT1i

Passcode: &3E6Kh^w

## Exam Info

The exam consists of an oral test.
The oral test consists of two or three technical questions on the topics covered during the course (see the syllabus).