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EL2620 Nonlinear Control 7.5 credits

Nonlinear Control treats the analysis and synthesis of nonlinear control systems. The course consists of three main parts: an analysis part presenting the theoretical foundation; a design part introducing important control design methods; and a part dealing with other nonlinear control methods.

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For course offering

Autumn 2024 Start 28 Oct 2024 programme students

Application code


Headings with content from the Course syllabus EL2620 (Autumn 2021–) are denoted with an asterisk ( )

Content and learning outcomes

Course contents

The course treats control theory for nonlinear dynamic systems:

  • analysis of input-output stability by means of e.g. the small gain theorem and the circle criterion
  • analysis of stability of equilibrium points through linearization and Lyapunov methods
  • analysis of stability for passive systems
  • design and analysis of feedback control for nonlinear systems through linearization, feedback linearization and Lyapunov based methods
  • design and analysis of high gain feedback, e.g. sliding mode control
  • observers for nonlinear systems
  • setpoint regulation control and setpoint tracking
  • simulation of nonlinear dynamic models.

Intended learning outcomes

After passing the course, the student shall be able to

  • formulate theory and definitions of important concepts in nonlinear control systems
  • apply theory and methods within nonlinear control.

Literature and preparations

Specific prerequisites

Knowledge in automatic control 6 higher education credits equivalent to completed course EL1000/EL1010/EL1110/EL1120.

Active participation in a course offering where the final examination is not yet reported in LADOK is considered equivalent to completion of the course.

Registering for a course is counted as active participation.

The term 'final examination' encompasses both the regular examination and the first re-examination.

Recommended prerequisites

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Examination and completion

If the course is discontinued, students may request to be examined during the following two academic years.

Grading scale

A, B, C, D, E, FX, F


  • INLA - Homework, 2.5 credits, grading scale: P, F
  • INLB - Home work, 2.5 credits, grading scale: P, F
  • TENT - Written exam, 2.5 credits, grading scale: A, B, C, D, E, FX, F

Based on recommendation from KTH’s coordinator for disabilities, the examiner will decide how to adapt an examination for students with documented disability.

The examiner may apply another examination format when re-examining individual students.

Opportunity to complete the requirements via supplementary examination

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Opportunity to raise an approved grade via renewed examination

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Ethical approach

  • All members of a group are responsible for the group's work.
  • In any assessment, every student shall honestly disclose any help received and sources used.
  • In an oral assessment, every student shall be able to present and answer questions about the entire assignment and solution.

Further information

Course room in Canvas

Registered students find further information about the implementation of the course in the course room in Canvas. A link to the course room can be found under the tab Studies in the Personal menu at the start of the course.

Offered by

Main field of study

Electrical Engineering

Education cycle

Second cycle

Add-on studies

EL2420 Automatic Control, Project Course

EL201X Degree Project in Automatic Control, Second Level


Elling W. Jacobsen

Transitional regulations

The expiration module LABA can be examined through new module INLA.

The expiration module lab can be examined through new module INLB.

The expiration module LABC can be examined through new module INLB.

The expiration module TENA can be examined through new module TENT.

Supplementary information

Replaces 2E1262.

In this course, the EECS code of honor applies, see: