EL2620 Nonlinear Control 7.5 credits

Olinjär reglering

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.

  • Education cycle

    Second cycle
  • Main field of study

    Electrical Engineering
  • Grading scale

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

Course offerings

Autumn 19 for programme students

Autumn 18 for programme students

Autumn 18 Doktorand for single courses students

  • Periods

    Autumn 18 P2 (7.5 credits)

  • Application code


  • Start date


  • End date


  • Language of instruction


  • Campus

    KTH Campus

  • Tutoring time


  • Form of study


  • Number of places

    No limitation

  • Course responsible

    Jonas Mårtensson <jonas1@kth.se>

  • Teacher

    Jonas Mårtensson <jonas1@kth.se>

  • Target group

    For doctoral students at KTH

Intended learning outcomes

After finished course, the students will have knowledge in analysis of nonlinear dynamical systems using tools from control theory, such as linearization, Lyapunov methods, and describing functions. They will be able to use computer-based tools for modeling, simulation and control design of nonlinear systems. They will have knowledge about advanced nonlinear control design methods. The theory is illustrated by many examples from mechanical, electrical, chemical and aeronautical engineering, as well as from bioengineering and finance.

In particular, the students should be able to:

  • Solve problems using classical methods for analysis of nonlinear dynamical systems, such as linearization and phase-plane analysis, equilibria and oscillations.
  • Use Simulink for modeling and simulation of nonlinear systems.
  • In depth knowledge on how to solve stability problems using Lyapunov and LaSalle methods.
  • In depth knowledge about input-output stability using the circle criterion and describing function analysis. The students should be able to apply this theory to compensation for saturation (anti-windup), friction, back-lash and quantization.
  • Basic knowledge about passivity theory.
  • Be able to solve simpler control design problems using high-gain design methods, such as linearization by high gain and sliding modes.
  • Be able to solve simpler control design problems using Lyapunov design methods and feedback linearization.
  • Determine controllability for nonlinear systems.
  • Have basic knowledge about optimal control theory, and how to solve standard optimal control problems.

Course main content

Lecture 1-2: Nonlinear models, computer simulation; Lecture 3-6:Feedback analysis: linearization, stability theory, describing function; Lecture 7-10; Control design: compensation, high-gain design, Lyapunov methods; Lecture 11-13: Alternative methods: gain scheduling, optimal control, neural networks, fuzzy control.


For single course students: 120 credits and documented proficiency in English B or equivalent.

Recommended prerequisites

Automatic Control, Basic Course, (EL1000, EL1110, E1120, Reglerteknik allmän kurs) or permission by the coordinator.


Lecture notes and exercises sold by the department. An highly recommended textbook is Khalil, H. K., Nonlinear Systems (3rd ed., 2002, Prentice Hall, ISBN 0-13-067389-7).


  • LABA - Laboratory Work 1, 2.0, grading scale: P, F
  • LABB - Laboratory Work 2, 2.0, grading scale: P, F
  • LABC - Laboratory Work 3, 2.0, grading scale: P, F
  • TENA - Examination, 1.5, grading scale: A, B, C, D, E, FX, F

Requirements for final grade

LABA 2.0 cr, LABB 2.0 cr, LABC 2.0cr, TEN 1.5 cr

Offered by

EECS/Intelligent Systems


Jonas Mårtensson


Jonas Mårtensson <jonas1@kth.se>

Supplementary information

Replaces 2E1262

Add-on studies

EL2420 Automatic Control, Project Course

EL201X Degree Project in Automatic Control, Second Level


Course syllabus valid from: Spring 2019.
Examination information valid from: Spring 2019.