Nonlinear Control

SS 2021

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

General information


Stefan Wildhagen, M.Sc.

Janani Venkatasubramanian, M.Sc.
(Organization and student proofs)


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


The lectures will be available as video recordings in ILIAS. The dates for live events will be communicated through ILIAS.


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 image shows Julian Berberich

Julian Berberich


Lecturer (akademischer Rat)

This image shows Raffaele Soloperto

Raffaele Soloperto


Research Assistant

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