University of California at Berkeley
Department of Electrical Engineering and Computer Sciences
EE222
Nonlinear Systems: Analysis, Stability, and Control
Spring Semester 2016
Course information:
UCB OnLine Course Catalog and Schedule of Classes
Lecture Information: Tuesdays and Thursdays, 11:00 am  12:30 pm, 1165 Etcheverry.
Instructor

Dr. Murat Arcak,
569 Cory Hall

arcak at berkeley.edu

http://www.eecs.berkeley.edu/~arcak

Office Hours: Tuesdays 3:004:00 pm, 569 Cory
Web site
bCourses will be used for announcements, lecture notes, assignments, grades, and solutions to tests and homework sets.
References
Lecture notes will be provided. The following books are recommended for reference:

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

H.K. Khalil, Nonlinear Systems, Prentice Hall, 3rd edition, 2002.
Grading
Homework: 30 points. Midterm: 30 points. Final: 40 points.
Course Outline

Fundamental Properties of Nonlinear Systems:
Nonlinear phenomena and examples, planar systems, bifurcations, existence and uniqueness theorems.

Lyapunov Stability Theory:
Lyapunov's direct and indirect methods. Lyapunovbased feedback stabilization examples, including backstepping and adaptive control.

Robustness Analysis and Computational Methods:
Inputtostate stability. Using level sets for reachability bounds and safety certification. Sumofsquares techniques and semidefinite programming relaxations for stability and safety certification.
 Differential Geometric Tools for Nonlinear Control:
Basics concepts in differential geometry, feedback linearization and design examples.
 Dissipative Systems:
Definition and examples of dissipativity, application to compositional analysis of interconnected systems, case studies.