Nonlinear Control Systems (etit5013-01a)

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 4th, 2020 using the OLAT resource of the course.
  • The preliminary online meeting will take place on April 6th, 2020 at 8:15 am. An invitation with login data will be sent to  all registered students.



Will be consecutively provided during the lecture period. At some locations links to videos are provided. Videos are only accessible for students from Kiel University registered in the OLAT course. 

Lecture notes



  • To solve the exercises the open source system Maxima (console) or wxMaxima (GUI) at Sourceforge will be used primarily. An introduction to the fundamental concepts and functions relevant to the lecture consult Introduction to Maxima. You need to install the GUI wxMaxima to run the code. If you experience issues with the stable version of wxMaxima, then try to compile the developer code, which can be quite easily done. 
  • For complex problems it is recommended to obtain a student version of Mathematica, see, e.g., the Kiel University shop at Asknet (for students from Kiel only) or the site of the Wolfram Inc.


[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