ENEE 661  Nonlinear Control Systems (P. S. Krishnaprasad)
ENEE 661  Nonlinear Control Systems
Spring 2020
Last Update: Wednesday January 15, 2020
Course Information
Special Announcements (weekly)

Lecture Notes by P. S. Krishnaprasad (LaTeX version)
Survey Lecture (on some aspects of geometric control theory)
Correction to pages 3031 of Lecture 4 on flow expression

Supporting References (papers, books)
Wei and Norman's 1964 paper On Global Representations of the Solutions of Linear Differential Equations as a Product of Exponentials

Homework Assignments Spring 2017

Older Handwritten Weekly Lecture Notes by P. S. Krishnaprasad
Lecture 1(a) (Introducing nonlinear control systems) Lecture 1(b) (FrenetSerret framing of curves and control on SE(3))
Lecture 1(c) (natural framing of curves and control on SE(3))
Lecture 2(a) (matrix Lie groups and Lie algebras  very basic introduction)
Lecture 2(b) (Lie brackets in control  examples)
Lecture 3(a) (contraction mappings, fixed points,
existence and uniqueness of solutions to ODE's) Lecture 3(b) (mean value theorem)
Lecture 4 (planar systems, HartmanGrobman theorem, PoincareBendixson theorem)
Lecture 8 Feedback stabilization; feedback linearization
Lecture 9 Stability theory: inputoutput aspects
Lecture 10 Passivity and Absolute Stability

Older Homework Assignments

Homework solutions are sent by email
For Matlab problems remember to include your code.

Examinations

Other Resources (OR)
My lecture notes on Optimal Control (ENEE 664)
My lecture notes on (Linear) System Theory (ENEE 660)
Website for Feedback Systems: An Introduction for Scientists and Engineers by K. J. Astrom and R. M. Murray Online readable book
Motion, Control and Geometry Four expository articles illustrating nonlinear control in action
Real Analysis Book by Cinlar and Vanderbei  material useful in Systems courses published by Springer in Undergraduate Texts in
Mathematics Series as Real and Convex Analysis (recommended)
About Sophus Lie
About Stefan Banach
About A. M. Lyapunov
About G. D. Birkhoff