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SS 2017 Nonlinear Control

Lecturer: Dr.-Ing. Jan Maximilian Montenbruck

Teaching assistant: Simon K. Niederländer, M.Sc.

Exam: February 27th, 2018   11:00 - 13:00   V9.41
Office Hour: February 20th, 2018   11:00 - 12:00   V9.2.255

Time and place (3V/1Ü, 6 ECTS):
Wednesday   09:40 - 11:10 V 27.01
Thursday  09:45 - 11:15  V 55.21

The course is given in English.
All the lecture material is available in the Ilias learning management system. You find the material under:

repository >> engineering >> engineering cybernetics >> lehrveranstaltungen SS 17 >> nonlinear control

The password will be announced in the first lecture.

The course is intended for students having already visited ERT and KRT or have equivalent knowledge.
This course can be chosen within the area "Systemtheorie" for the study program Engineering Cybernetics.

The course covers modern analysis and controller design methods for nonlinear systems:

  1. Differential Equations
    1.1. Existence of Solutions
    1.2. Lyapunov's Direct Method
    1.3. Uniqueness of Solutions
  2. Nonautonomous Differential Equations
    2.1. Lyapunov's Direct Method
    2.2. Comparison Functions
  3. Systems with Inputs
    3.1. Input-to-State Stability
    3.2. Control Lyapunov Functions
    3.3. Backstepping
  4. Systems with Inputs and Outputs
    4.1. Sliding Mode Control
    4.2. Dissipativity
    4.3. Passivity
  5. Input-Output Methods
    5.1. Signals and Systems
    5.2. Feedback Theorems


    • R. Sepulchre, Constructive Nonlinear Control, Springer-Verlag, 1997. Download
    • C. A. Desoer and M. Vidyasagar, Feedback Systems: Input-Output Properties, Academic Press, 2009.
    • M. Krstic, I. Kanaellakopoulos and P. Kokotovic, Nonlinear and Adaptive Control Design, Wiley, 1995.
    • H. K. Khalil, Nonlinear Systems, Prentice Hall, 2002. Publisher Link, Errata