Nonlinear Control Theory

PhD course on Nonlinear Control, (FRT025F)

Lecturer: Anders Robertsson, Bo Bernhardsson


The course is open for all PhD students and gives 7.5 ECTS credits.

Course description:

The goal of the course is to provide good knowledge and practice the
ability to use classical as well as modern analysis and design methods for
nonlinear control systems.


Lyapunov theory for autonomous and time-varying systems,
Small-gain theory, Absolute stability, Integral quadratic constraints, Pas-
sivity, Center manifold theorem, Stability of periodic and perturbed sys-
tems, Averaging, Singular perturbations, Geometric control theory, Feed-
back linearization, Nonlinear design tools (backstepping, high gain con-

Language: Swedish or English


H. K. Khalil, Nonlinear Systems 3rd ed. Prentice Hall, 2002,
ISBN 0-13-067389-7 + handout material [book home page with errata]



Miniproject suggestions (2 persons each)

  • Density functions: Alina and Christian
  • Gröbner: Mahdi + NN? (sign up if interested)
  • Flat systems: Björn and Ola




H. K. Khalil, Nonlinear Systems 3rd ed. Prentice Hall, 2002,
ISBN 0-13-067389-7  [book home page with errata]

Handout material:


On the KYP-lemma by A. Rantzer

IQC_Lecture notes by U. Jönsson errata

IQC-paper by Megretski and Rantzer 1997

Seminar by Anton Shiriaev on Circle Criterion (version for 1st Swe-Chin conf.)

The Joy of Feedback (1991 Bode Prize Lecture by P. Kokotovic)


Old course home page (local access only)