Nonlinear Control Theory

PhD course on Nonlinear Control, (FRT025F)

Lecturers: Anders Rantzer, 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.

With a few exeptions, all lectures and exercise sessions are given in the seminar room at 1315-1500 on Tuesday and Fridays.






Suggestions will be posted here.




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

More papers on IQCs

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 pages