ENEE 661  Nonlinear Control Systems (P. S. Krishnaprasad)
ENEE 661  Nonlinear Control Systems
Spring 2010
Last Update January 11, 2010
Course Information
Special Announcements
This is a preliminary version of the class website. The version of the notes linked
here is from 2008 and will be subject to updates

Weekly Lecture Notes by P. S. Krishnaprasad
Lecture 1 (what is nonlinear behavior?)
Lecture 2 (planar systems, HartmanGrobman theorem, PoincareBendixson theorem)
Lecture 3 (index of a plane vector field, elements of bifurcations)
Lecture 4, part (ii) (some concepts and theorems from elementary analysis)
Lecture 5, part (i) (stability of equilibria, basic theorems of Lyapunov and related results)
Lecture 6 part (ii) (timevarying linear systems, a converse Lyapunov theorem, Floquet theory of periodic linear systems)
Lecture 7 (inputoutput stability)
Lecture 8 (absolute stability, the Lure' problem, positive real lemma)
Lecture 8 (absolute stability, circle criterion, Popov criterion, multipliers)
Lecture 9 (center manifold reduction)
Lecture 10 (feedback linearization)

Homework Assignments

Homework solutions:
For Matlab problems please remember to include your code, too.

Some interesting resources on the web
My lecture notes on Optimal Control
Real Analysis material useful throughout the course
About Stefan Banach
About A. M. Lyapunov
About G. D. Birkhoff