E209B: Advanced Nonlinear Control
Stanford University
Spring Quarter 2003-2004

Lecture Information: 60-61H, TTh 11:00 - 12:30.

Instructor  Administrative Associate 
Course Description

This course is a second graduate course in nonlinear systems, organized into three parts as described below. The course is structured to emphasize some of the recent research activity in nonlinear analysis and control. We will use concepts from differential geometry, however the course is self contained in that this mathematics will be taught as part of the course.

Part 1: Advanced Topics in Feedback Linearization

Part 2: Geometric Nonlinear Control
Part 3: Input-Output and Advanced Stability Analysis



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Control Systems (E205); Nonlinear Control (E209 or E209A); Linear Algebra (Math. 103, 113); Exposure to differential equations.
Exposure to MATLAB is strongly recommended.


Homework 50%
Project 50%

Textbook and References

The course is based on a set of lecture notes which will be made available throughout the term. References to relevant research papers will also be given.
The following are the recommended reference texts:

S. S. Sastry. Nonlinear Systems: Analysis, Stability, and Control. Springer-Verlag, 1999.

A. Isidori. Nonlinear Control Systems, 3rd Edition. Springer, 1995.

M. Vidyasagar. Nonlinear Systems Analysis, 2nd Edition. Prentice-Hall, 1993.

H. K. Khalil. Nonlinear Systems, 3rd Edition. Prentice-Hall, 2002.