Date of Award
6-2026
Document Type
Thesis
Publisher
Santa Clara : Santa Clara University, 2026
Degree Name
Master of Science (MS)
Department
Electrical and Computer Engineering
First Advisor
Burak Kürkçü
Abstract
This thesis explores the coupling of Control Coherent Koopman (CCK) modeling and robust algebraic H→-based stable inversion to combine the mathematical rigorousness of physics-based nonlinear control with the linear control synergy of data-driven Koopman-based linear control. CCK modeling augments a physical model of a nonlinear system with physical/virtual actuator dynamics and uses Hilbert-space projections to produce a finite-dimensional linear time-invariant (LTI) Koopman model with an exact constant actuator-side input matrix and structured additive uncertainty. This uncertain LTI model is then used to design an algebraic H→-based stable inversion controller to robustly control the nonlinear system. This thesis presents theorems that explicitly define the additive uncertainty structure and prove the accuracy and robustness of algebraic control. Numerical studies are included to demonstrate the prediction accuracy of CCK modeling and the tracking accuracy and robustness of CCK-based algebraic control.
Recommended Citation
Phan, Christopher, "Robust Algebraic Control of Nonlinear Systems via Continuous-Time Control Coherent Koopman Modeling with Structured Additive Uncertainty" (2026). Electrical and Computer Engineering Master's Theses. 14.
https://scholarcommons.scu.edu/elec_mstr/14
