Many control problems are nonlinear by nature. Classical control methods are based on linear approximations or a linearization of these systems in the neighborhood of setpoints to be controlled. In contrast to linear control theory, this module focuses on advanced nonlinear methods for the analysis and control of nonlinear systems by exploiting structural properties. In summary, the course covers the following topics:

• Examples of nonlinear physical systems and nonlinear phenomena
• Introduction to computer algebra software
• Analysis of nonlinear systems
• Stability of nonlinear systems (Lyapunov stability)
• Lyapunov-based control design (Backstepping)
• Reachability/controllability and observability of nonlinear systems
• Exact linearization via feedback
• Differential flatness of nonlinear systems
• Flatness-based feedforward and feedback control of nonlinear systems