Nonlinear Control Systems (EE 60580)

University of Notre Dame

Fall 2017 - Enroll in EE60580 section 01
DBRT 208 - TR 12:30-1:45 PM

Course Vault

Description: This is a graduate level course in nonlinear control systems that are, primarily, realized as systems of nonlinear ordinary differential equations (ODEs). The course is an in-depth investigation of methods from ordinary differential equations, stability concepts, nonlinear regulators, and the control of bifurcations. The pre-requisites for this course are undergraduate level courses in advanced calculus and ordinary differential equations. An undergraduate level course in signals/systems and a graduate level course in linear systems theory would also be useful. The course will also make use of MATLAB and convex optimization packages (YALMIP/SDPT3).
  • Ordinary Differential Equations: introduction, mathematical review, ordinary differential equations, linearization and invariant manifolds
  • Stability Concepts: Lyapunov stability concepts, stability concepts for input/output systems, structural stability and bifurcations
  • Nonlinear Control Systems: Stabilization and Backstepping, Feedback Linearization, Passivity-Based Control, Equation-free Control of Nonlinear Processes

Grading: 30% Homework, 20% Midterm (1), 20% Final Exam
Instructor: Michael Lemmon, Dept. of Electrical Engineering, University of Notre Dame, Fitzpatrick 264, lemmon at
Textbook: Online Lectures Notes (see vault)
Reference Textbooks
  • V.I. Arnold, Ordinary Differential Equations, MIT Press, Cambridge Mass., 1973.
  • R.A Freeman and P.V. Kokotovic Robust Nonlinear Control Design: state-space and Lyapunov Techniques, Springer, 2008.
  • A. Isidori, Nonlinear Control Systems, Springer, 1995.
  • H. Khalil, Nonlinear Systems, Prentice-Hall, 2002.
  • R. Sepulchre, M. Jankovic, and P.V. Kokotovic, Constructive Nonlinear Control, Springer, 2012.,
  • A. Van der Schaft, L2-gain and Passivity Techniques in Nonlinear Control, Springer 2000.
  • S. Wiggins, Introduction to Applied Nonlinear Dynamical Systems and Chaos, Springer, 2003.