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Non Linear Control

Code: PDEEC0027     Acronym: NLC

Classification Keyword
OFICIAL Electrical and Computer Engineering

Instance: 2019/2020 - 2S

Active? Yes
Responsible unit: Department of Electrical and Computer Engineering
Course/CS Responsible: Doctoral Program in Electrical and Computer Engineering

Cycles of Study/Courses

Acronym No. of Students Study Plan Curricular Years Credits UCN Credits ECTS Contact hours Total Time
PDEEC 3 Syllabus since 2015/16 1 - 7,5 70 202,5

Teaching Staff - Responsibilities

Teacher Responsibility
António Pedro Rodrigues Aguiar

Teaching - Hours

Recitations: 3,00
Type Teacher Classes Hour
Recitations Totals 1 3,00
António Pedro Rodrigues Aguiar 3,00

Teaching language



The main goal of this course is to provide to the students a solid background in analysis and design of nonlinear control systems.

Learning outcomes and competences

At the end of this course, the students should master the concepts introduced in the sessions and apply them to the analysis of nonlinear systems as well as to the design of control schemes for such systems.
This course covers the analysis and design of nonlinear control systems and is suitable for post-graduate students in science and engineering. The course begins with an introduction to nonlinear system theory and stability analysis. The last part of the course is dedicated to nonlinear control design tools such as feedback linearization, sliding mode control, Lyapunov redesign, backstepping, passivity based control and nonlinear adaptive control. Emphasis is placed upon application of the theory to systems of interest to the students.

Working method


Pre-requirements (prior knowledge) and co-requirements (common knowledge)

Basic knowledge of calculus, linear algebra and ordinary differential equations is assumed.


Course Topics
1. Introduction to nonlinear systems
2. Stability and Lyapunov Theory  
3. Nonlinear Control Design Tools
        Feedback Linearization. Sliding Mode Control. Backstepping. Passivity-Based Control. Adaptive control.

Mandatory literature

Jean-Jacques E. Slotine, Weiping Li; Applied nonlinear control. ISBN: 0-13-040890-5

Complementary Bibliography

Hassan K. Khalil; Nonlinear systems. ISBN: 0-13-067389-7
Sastry Shankar; Nonlinear systems. ISBN: 0-387-98513-1
Vidyasagar M.; Nonlinear systems analysis. ISBN: 0-13-623280-9

Teaching methods and learning activities

Classes, homeworks, and Project based learning



Evaluation Type

Distributed evaluation with final exam

Assessment Components

Designation Weight (%)
Exame 30,00
Participação presencial 0,00
Trabalho escrito 70,00
Total: 100,00

Amount of time allocated to each course unit

Designation Time (hours)
Estudo autónomo 0,00
Frequência das aulas 0,00
Trabalho de investigação 0,00
Trabalho escrito 0,00
Total: 0,00

Eligibility for exams

Attendance to the OT and TP sessions.

Calculation formula of final grade

Homeworks – 30%
Final Project – 40%
Final Exam  – 30% (24h take home)


The following two types of projects are possible in this course:
- Solution of a research problem relevant to the student’s area of research, which makes use of methods described in the course.
- Independent study of a topic not covered in-depth in class (e.g., reading a paper or book chapter).

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