Nonlinear control

Gildas Besancon ( ).

Class schedule

  1. Introduction to nonlinear systems: representation and specific features
  2. Nonlinear systems analysis: stability, tangent linearization, Lyapunov methods
  3. State feedback control of nonlinear systems: approximate linearization, exact linearization, backstepping, sliding modes
  4. State observers for nonlinear systems: Extended Kalman Filter, Output injection, High gain designs
  5. Observer-controller schemes: adaptive methods, output feedback control


  • "Nonlinear systems", H. Khalil - Prentice-Hall, 2002.
  • "Nonlinear control systems", A. Isidori - Springer Verlag, 1995.

Grading Policy

Final Exam: 100 %


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