Nonlinear Control Systems

Regelung nichtlinearer Systeme / Introduction to nonlinear control systems
V-UE; 4 SWS; ECTS-Points: 5
Lecturer: Prof. Dr.-Ing. habil. Thomas Meurer


This lecture gives an introduction to linear time-varying and nonlinear control systems by making use of differential geometric techniques. This in particular includes the following topics:

  • Linear time-varying systems
  • Mathematical description and properties of nonlinear dynamic systems
  • Introduction to differential geometric concepts
  • Exact feedback linearization for SISO and MIMO systems
  • Differential flatness
  • Introduction to nonlinear observer design
  • Exercises will be accompanied by an introduction to the use of computer-algebra-systems for the solution of nonlinear control problems.



Important information for summer term 2020
  • Unless not announced otherwise due to the Corona virus crisis the course will take place as a digital course.
  • Students should register until April 6th, 2020 using the OLAT resource of the course.
  • A preliminary online meeting will be announced on April 6th, 2020 



Will be consecutively provided during the lecture period.

Lecture notes

  • Chapter 1 will appear shortly before the start of the lecture (online lecture in summer term 2020)


  • Exercises will appear here successively as the lecture progresses. 

Computer-Algebra-System Maxima



[1] A. Isidori (1995) Nonlinear Control Systems, Springer-Verlag, Berlin
[2] H.K. Khalil (2002) Nonlinear Systems, Prentice Hall, Upper Saddle River
[3] M. Krstic, I. Kanellakopoulos, P. Kokotovic (1995) Nonlinear and Adaptive Control Design, John Wiley & Sons, New York
[4] H. Nijmeijer, A.J. van der Schaft (1990) Nonlinear Dynamical Control Systems, Springer, New York
[5] S. Sastry (1999) Nonlinear Systems, Springer, New York
[6] J.J. Slotine, W. Li (1991) Applied Nonlinear Control, Prentice Hall, Englewood Cliffs
[7] M. Vidyasagar (1993) Nonlinear Systems Analysis, Prentice Hall, Englewood Cliffs