Course content

Methods for analysis and design of nonlinear systems, with an emphasis on nonlinear control systems. The course includes:
1) Mathematical models of nonlinear systems, and fundamental differences between the behavior of linear and nonlinear systems. Equilibrium points, limit cycles and general invariant sets.
2) Phase plane analysis, Lyapunov stability, Input-to-state stability, Input-Output stability, Passivity analysis and the Describing Function Method.
3) Nonlinear control design, including Lyapunov-based control, Energy-based control, Cascaded control, Passivity-based control, Input-Output linearization, and Backstepping.

Learning outcome

The course shall give the students a theoretic foundation and skills necessary to analyse and design nonlinear control systems.

Learning methods and activities

Lectures and problem sets. Four out of six assignments must be approved. If there is a re-sit examination, the examination form may be changed from written to oral. The exam is given in English.

Compulsory assignments

• Exercises

Recommended previous knowledge

The courses TTK4105 Control Systems and TTK4115 Linear System Theory, or similar knowledge. It is an advantage, but not a prerequisite, to follow the course TMA4145 in parallell with this course.

Course materials

Khalil: Nonlinear Systems, 3rd edition, Prentice Hall, 2002. Selected conference and Journal papers.

Credit reductions