TTK4150 - Nonlinear Control Systems


Examination arrangement

Examination arrangement: School exam
Grade: Letter grades

Evaluation Weighting Duration Grade deviation Examination aids
School exam 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, Adaptive Control and Backstepping.

Learning outcome

Knowledge: - 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, Nonlinear Adaptive and Backstepping control design. Skills: - 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, video lectures, and assignments. Four out of six assignments must be approved. The course is given in English.

Compulsory assignments

  • Exercises

Further on evaluation

At least 4 of the 6 assignments must be approved.

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 (digital) to oral.

The re-sit examination is held in August.

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

Version: 1
Credits:  7.5 SP
Study level: Second degree level


Term no.: 1
Teaching semester:  AUTUMN 2024

Language of instruction: English

Location: Trondheim

Subject area(s)
  • Technological subjects
Contact information
Course coordinator: Lecturer(s):

Department with academic responsibility
Department of Engineering Cybernetics


Examination arrangement: School exam

Term Status code Evaluation Weighting Examination aids Date Time Examination system Room *
Autumn ORD School exam 100/100 D INSPERA
Room Building Number of candidates
Summer UTS School exam 100/100 D INSPERA
Room Building Number of candidates
  • * 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.

For more information regarding registration for examination and examination procedures, see "Innsida - Exams"

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