TTK4150 - Nonlinear Control Systems


Examination arrangement

Examination arrangement: Written examination

Evaluation form Weighting Duration Examination aids Grade deviation
Written examination 100/100 4 hours D

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, and Passivity analysis.
3) Nonlinear control design, including Lyapunov-based control, Energy-based control, Cascaded control, Passivity-based control, Input-Output linearization, and Backstepping.

Learning outcome

- A thorough knowledge of theory and methods for nonlinear dynamical systems.
- Know how to find the invariant sets of nonlinear dynamical systems, and know how to analyze the system behavior around these sets.
- Know the methods Phase plane analysis, Lyapunov stability analysis, Input-to-state stability analysis, Input-Output stability analysis, Passivity analysis, Lyapunov-based control, Energy-based control, Cascaded control, Passivity-based control, Input-Output linearization, and Backstepping control design.

- Proficiency in independently assessing the advantages and disadvantages of the different nonlinear methods, and make a qualified choice of method for analysis and design of a dynamical system.
- Proficiency in independently applying the methods for analysis and design of nonlinear control systems.
- Proficiency in assessing the advantages and limitations of the resulting nonlinear control system.

General competence:
- Skills in applying this knowledge and proficiency in new areas and complete advanced tasks and projects.
- Skills in communicating extensive independent work, and master the technical terms of nonlinear dynamical control systems.
- Ability to contribute to innovative thinking and innovation processes.

Learning methods and activities

Lectures and assignments. Four out of six assignments must be approved. The course is given in English.

Compulsory assignments

  • Øvinger

Further on evaluation

The exam is given in English. Students are free to choose Norwegian or English for written assessments.
If there is a re-sit examination, the examination form may be changed from written to oral.

Specific conditions

Exam registration requires that class registration is approved in the same semester. Compulsory activities from previous semester may be approved by the department.

Course materials

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

Credit reductions

Course code Reduction From To
SIE3055 7.5


Detailed timetable


Examination arrangement: Written examination

Term Statuskode Evaluation form Weighting Examination aids Date Time Room *
Autumn ORD Written examination 100/100 D 2018-12-19 09:00 SL120 , SL274 , Hall A
Summer UTS Written examination 100/100 D
  • * The location (room) for a written examination is published 3 days before examination date.
If more than one room is listed, you will find your room at Studentweb.