Key Facts
Contact Prof. Dr.-Ing. Florian Holzapfel
Simon Hafner M.Sc.
Language of Instructions English
Language of Materials English
Type / ECTS Lecture / 3 (Elective Lecture Module)
Semester Summer Semester
Time and Place Lecture: Tuesdays, 17.00-18.30, online (TUM-Online)
Prerequisites Required: noneRecommended:

Content / Educational Objectives Nonlinear control designs offer various methods to design controllers for nonlinear systems with inherent uncertainties while maintaining superior reliability and performance compared to classical design strategies.
Significant progress in the fields of stability and robustness analysis for nonlinear systems enabled the use of these techniques in flight control applications, which were also successfully demonstrated in various flight tests.Specifically the following topics will be addressed:
– Mathematical Preliminaries
– Feedback Linearization / Nonlinear Dynamic Inversion
– Backstepping
– Incremental Backstepping / Nonlinear Dynamic Inversion
– Command Filtered Backstepping
– Modified Linear Extended State ObserversIn each chapter the presented theory is demonstrated using aerial applications.
Teaching Methods / Materials
  • Powerpoint Presentation including whiteboard
  • Lecture Notes
  • Simulations with Matlab / Simulink
Exam Oral Exam; 30 minutes; closed book
Reference Literature
  • “Nonlinear Systems” – Hassan K. Khalil
  • “Nonlinear Control Systems” – Alberto Isidori
  • “Applied Nonlinear Control” – Jean-Jacques E. Slotine, Weiping Li
  • “Nonlinear and adaptive control design” – Miroslav Krstić, Ioannis Kanellakopoulos, Petar V. Kokotović
  • “On Contraction Analysis for Nonlinear Systems” – Winfried Lohmiller and Jean-Jacques E. Slotine
  • “Performance Recovery of Feedback-Linearization-Based Designs” – Leonid B. Freidovich, Hassan K. Khalil

This lecture is part of the Munich Aerospace Teaching Collaboration.