Nonlinear Control

SS 2018

Lecturer: Dr.-Ing. Matthias Müller
Credits: 3V, 1Ü

Lecturer: Dr.-Ing. Matthias A. Müller

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

Exam: February 14, 2019  11:00 - 13:00  V9.41

Office Hour: tba

Time and place (3V/1Ü, 6 ECTS):
Wednesday   09:45 - 11:15 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 18 >> 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. Uniqueness of Solutions
    1.3. Lyapunov's Direct Method
  2. Nonautonomous Differential Equations
    2.1. Lyapunov's Direct Method
    2.2. Exponential Stability
    2.3. Comparison Functions
    2.4. Converse Theorems
  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. Input-Output Stability of State-Space Systems
    5.3. Feedback Theorems


    • H. K. Khalil, Nonlinear Systems, Prentice Hall, 2002. Publisher Link, Errata
    • 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.
    • R. Sepulchre, Constructive Nonlinear Control, Springer-Verlag, 1997. Download
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