Course Info & Contacts:

Course Description:

This is the first course to the nonlinear control systems theory, and is designed for the graduate students. The course covers the analysis and design of nonlinear control systems. The outline will be roughly the following:
  1. Introduction
  2. Second-Order Systems
  3. Fundamental Properties and Required Math Review
  4. Lyapunov Stability
  5. Stability of Perturbed Systems
  6. Input to State Stability
  7. Sliding Mode Control
  8. Passivity (if time allows)

Text Book:

Hassan K. Khalil, Nonlinear Systems, Third Edition, Upper Saddle River, New Jersey: Prentice Hall, 2002.


  1. Jean-Jacques Slotine, and Weiping Li, Applied Nonlinear Control, Prentice Hall, 1991.
  2. S. Shankar Sastry, Nonlinear Systems: Analysis, Stability, and Control, Springer-Verlag, 1999.
  3. John Guckenheimer, and Philip Holmes, Nonlinear Oscillations, Dynamical Systems, and Bifurcations of Vector Fields, Second edition, Springer, 1983.
  4. Eduardo D. Sontag, Input to state stability: Basic concepts and results. In P. Nistri and G. Stefani, editors, Nonlinear and Optimal Control Theory, pp. 163--220. Berlin: Springer-Verlag, 2007.

Grading System: