Systems Theory and Automatic Control

Nonlinear Control


Dr. Navid Noroozi
Room G07-210


M.Sc. Michael Maiworm
Room G07-207

M.Sc. Hoang Hai Nguyen
Room G07-209

Time and Place (2 SWS Lecture, 1 SWS Exercises)

Tue 13:00-15:00 G10-460
Thu 17:00-19:00 G05-210

Office Hours:

After class or by appointment (i.e. go to
and choose a suitable time slot in the non-blocked areas).

Main References:

The following books are recommended for reference:

  • H. K. Khalil, Nonlinear Systems, Englewood Cliffs, NJ: Prentice Hall, 3rd edition, 2002.
  • J. E. Slotine, W. Li, Applied nonlinear control, Englewood Cliffs, NJ: Prentice hall, 1991.
  • H. J. Marquez, Nonlinear control systems: analysis and design, Hoboken: Wiley-Interscience, 2003.


This course provides an introduction to nonlinear control systems. Nonlinear systems exhibit particular behaviours which are not exposed by linear systems. Here we study the major steps in analysis and design of nonlinear control system including fundamental phenomena of nonlinear systems, stability analysis (both state-based and input-output approaches), robustness concepts, and controller design via different techniques.


An undergraduate-level understanding of ordinary differential equations, linear control systems, and linear algebra. The following concepts from linear control theory are required: state-space, stability, controllability, and observability.

Tentative Course Outline:

The course will cover the following topics:

  • Review of linear systems, nonlinear phenomena, phase plane
  • Qualitative properties of solutions (existence, uniqueness, semigroup property, ...)
  • Stability analysis (Lyapunov methods)
  • Robustness analysis (input-to-state stability. reachability and safety certification)
  • Input-output approach (dissipativity, passivity), absolute stability
  • Nonlinear control design (feedback linearization, sliding mode control)

Class Policy:

  • We have two full lectures in a row and one full exercise in between.
  • Regular attendance and class activities including doing exercises are expected.

Exam Information

Examination date: TBA
  • Exam consultation:
    • TBA
  • Exam inspection:
    • TBA