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SF2842 Geometric Control Theory 7.5 credits

About course offering


For course offering

Spring 2025 Start 14 Jan 2025 programme students

Application code



For course offering

Spring 2025 Start 14 Jan 2025 programme students


Xiaoming Hu (


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Course coordinator

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Headings with content from the Course syllabus SF2842 (Spring 2022–) are denoted with an asterisk ( )

Content and learning outcomes

Course contents

  • Invariance and controlled invariance
  • V* and disturbance decoupling
  • Zeros, Zero dynamics and system inversion
  • Tracking and non-interacting control
  • Input-output behavior
  • Output regulation, Internal model principle
  • Nonlinear systems

Intended learning outcomes

After having completed the course the student shall be able to:

  • Interpret and explain basic properties of linear systems from a geometric perspective.
  • Apply different algorithms to solve control problems such as DDP, non-interacting control, tracking and outputregulation.
  • Solve some basic control problems for nonlinear systems that do not have a controllable linearized system.

In addition, for the highest grade the student shall be able to:

  • Solve simple but realistic control problems that require synthesis of different design algorithms.

Literature and preparations

Specific prerequisites

English B / English 6

In general:

150 university credits (hp) including 28 hp in Mathematics, 6 hp in Mathematical Statistics and 6 hp in Control Theory. Documented proficiency in English corresponding to English B.

More precisely for KTH students:

Passed courses in calculus, linear algebra, differential equations, mathematical statistics, numerical analysis, control theory. A passed course in mathematical systems theory (SF2832) is an advantage.

Recommended prerequisites

Completed course SF2832 Mathematical systems theory or equivalent.


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Geometric Control Theory, lecture notes by Hu and Lindquist.

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


  • HEM2 - Home assignments, 1.5 credits, grading scale: P, F
  • TEN2 - Written exam, 6.0 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


Education cycle

Second cycle

Add-on studies

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Xiaoming Hu (