SS 2020

Nonlinear Control

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


The exam will take place on Thursday, July 30th from 11:30-13:30 in V53.01. The exam will be an "open-book exam" (i.e., all non-electronic resources are permitted).

Recent Information

  1. The ILIAS course "Nonlinear Control" for summer term 2020  is now available. If you are planning to attend Nonlinear Control during this semester, please join the ILIAS Course as soon as possible (no password required) and read the documents on the start page.
  2. The first lecture will be made available on ILIAS on Wednesday, April 22nd at 09:45. Please be sure to watch the first lecture, in which a lot of useful information will be provided, as soon as possible.
  3. We will record all lectures and exercises and will make them available on ILIAS at the time and date indicated in the schedule. They will then continue to be available throughout the entire semester.
  4. Following the lectures and exercises, questions can be submitted to a forum in ILIAS. Upon passage of a deadline of 3 days after the lecture, in which questions can be submitted, we will answer these questions within 3 more days.
  5. If there is a need for follow-up questions, we additionally offer office hours via video call. These will take place in  the responsible person's Cisco Webex meeting room during their regular office hours.You can find further information on their office hours by visiting their personal web pages.
  6. The signup for student proofs will be done using groups in ILIAS with a maximum of two participants, which follow a first-come-first-serve rule. Signup and changes in the group constellations will be possible from Wednesday, April 22nd, 12:00 until Friday, April 24th, after which the final group constellations will be announced in ILIAS. After this deadline, if changes are desired, the responsible teaching assistant must be contacted. The office hours for student proofs will take place in the Cisco Webex meeting room of the responsible person as well.
  7. Before April 22nd, we will continue to announce inportant information on this website. After passage of this date, the ILIAS page will be used for this task.

General information


Stefan Wildhagen, M.Sc.
(Exercises, organization, and 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.

Julian Berberich

Julian Berberich

Research Assistant

Raffaele Soloperto

Raffaele Soloperto

Research Assistant

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