Stability and stabilization for nonlinear systems; Lyapunov stability and functions, input-output stability and control Lyapunov functions. Differential geometric approaches for analysis and control of nonlinear systems: controllability, observability, feedback linearization, normal form, inverse dynamics, stabilization, tracking and disturbance attenuation. Analytical approaches: recursive back stepping, input-to-state stability, nonlinear small-gain methods and passivity. Output feedback designs. Various application examples for nonlinear systems including robotic and communication systems.
Prerequisites: Graduate status and EL 6253 or EL 7253.