Nonlinear Control Systems (etit-501)

Regelung nichtlinearer Systeme / Introduction to nonlinear control systems
V-UE; 4 SWS; ECTS-Points: 6
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
  • Exercises will be accompanied by an introduction to the computer-algebra-system Maxima and its application for the solution of nonlinear control problems.

Starting SS17 complementary topics including Lyapunov's stability theory, Lyapunov-based control design, as well as passivity and disspipativity concepts will be addressed in the lecture part of the seminar 'Selected Topics in Automatic Control'. Lecture notes will be provided on the corresponding webpage.


See UnivIS (lecture ID 080122) and UnivIS (lecture ID 080242)


Will be consecutively provided during the lecture period.

Lecture notes


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