Nonlinear Control

Time and Place:

Tue. 13:00-15:00 - G10-460

Thu. 17:00-19:00 - G05-210


Course Description:

This course provides an introduction to nonlinear control systems. Nonlinear systems exhibit particular behaviours which are not exposed by linear systems. Here we study the major steps in analysis and design of nonlinear control system including fundamental phenomena of nonlinear systems, stability analysis (both state-based and input-output approaches), robustness concepts, and controller design via different techniques.

Course Textbooks:

H. K. Khalil, Nonlinear systems. Englewood Cliffs, NJ: Prentice Hall, 3rd edition, 2002.

J. E. Slotine, W. Li, Applied nonlinear control. Englewood Cliffs, NJ: Prentice hall, 1991.

H. J. Marquez, Nonlinear control systems: analysis and design. Hoboken: Wiley-Interscience, 2003.

Office Hours:

After class, or by appointment (i.e. go to and choose a suitable time slot in the non-blocked areas on).


An undergraduate-level understanding of ordinary differential equations, linear control systems, and linear algebra. The following concepts from linear control theory are required: state-space representation, stability, controllability, and observability.