University of California at Berkeley
Department of Electrical Engineering and Computer Sciences
EE C222/ ME C237
Nonlinear Systems
Spring Semester 2018
Course information:
UCB OnLine Course Catalog and Schedule of Classes
Lecture Information: Mondays and Wednesdays, 2:00 pm  3:30 pm, Cory 521.
Instructor

Dr. Murat Arcak,
569 Cory Hall

arcak at berkeley.edu

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

Office Hours: Tuesdays 2:303:30 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 and Lecture Notes

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:
Inputtostate stability. Using level sets for reachability bounds and safety certification.

Computational Methods:
Sumofsquares techniques and semidefinite programming relaxations for stability and robustness analysis.
 Differential Geometric Tools for Nonlinear Control:
Basics concepts in differential geometry, feedback linearization and design examples.
 Sliding Mode Control:
Stabilization and tracking.
Homeworks