Advanced Methods in Nonlinear Control (6021-01a)

Advanced methods in nonlinear control
V-UE; 2+1 SWS; ECTS-Points: 5
Lecturer: Dr. Alexander Schaum, Dr. Petro Feketa, Prof. Dr.-Ing. habil. Thomas Meurer


This lecture addresses advanced methods in nonlinear control and stability analysis. In particular the following topics are addressed: 
  • Lyapunov's direct method
  • (Integrator) Backstepping control
  • Dissipativity and passivity-based control
  • Input-to-state stability (ISS) 


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)


Included in the lectures and will be announced in class.


[1] R. Freeman, P.V. Kokotovic (1996) Robust Nonlinear Control Design, Birkhäuser.
[2] R. Sepulchre, M. Jankovic, P.V. Kokotovic (1997) Constructive Nonlinear Control, Springer-Verlag.
[3] A. van der Schaft (2017) L2-Gain and Passivity Techniques in Nonlinear Control, Springer-Verlag.
[4] M. Krstic, I. Kanellakopoulos, P.V. Kokotovic (1995) Nonlinear and Adaptive Control Design, Wiley.