SS 2019

Nonlinear Control

Lecturer: Prof. Dr.-Ing. F. Allgöwer
Scope: 3L/1E
Credits: 6

Due to the given circumstances, the post-exam review (Prüfungseinsicht) of the exam cannot take place currently. We will inform you here and via ILIAS as soon as there is an alternative date.

General information


Prof. Dr.-Ing. Frank Allgöwer
Julian Berberich, M.Sc.
Raffaele Soloperto, M.Sc.


Simon K. Niederländer, M.Sc.
(Exercises and organization)
Stefan Wildhagen, M.Sc.
(Student proofs)


"Einführung in die Regelungstechnik" (ERT) and "Konzepte der Regelungstechnik" (KRT) or equivalent lectures


Wednesday  09:45-11:15  V27.01
Thursday      09:45-11:15  V55.21

The course covers modern analysis and controller design techniques for nonlinear systems including Lyapunov stability, input-to-state stability, control Lyapunov functions, backstepping, sliding-mode control, input-output stability, dissipativity, passivity, and passivity based controller design.

The lecture material is available on the ILIAS-page of the course.

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

The exam will be an "open-book exam" (i.e., all non-electronic resources are permitted) and will last 120 minutes.

This picture showsJulian Berberich

Julian Berberich

Research Assistant

This picture showsRaffaele Soloperto

Raffaele Soloperto

Research Assistant

To the top of the page