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Graduate courses

Departments' graduate courses for PhD-students.


Syllabus for

Academic year
ESS076 - Nonlinear and adaptive control
Syllabus adopted 2008-02-21 by Head of Programme (or corresponding)
Owner: MPSYS
7,5 Credits
Grading: TH - Five, Four, Three, Not passed
Education cycle: Second-cycle
Major subject: Automation and Mechatronics Engineering, Electrical Engineering

Teaching language: English

Course module   Credit distribution   Examination dates
Sp1 Sp2 Sp3 Sp4 No Sp
0107 Examination 5,0c Grading: TH   5,0c   28 May 2009 pm V,  17 Apr 2009 pm V,  28 Aug 2009 am V
0207 Laboratory 2,5c Grading: UG   2,5c    

In programs

MPSYS SYSTEMS, CONTROL AND MECHATRONICS, MSC PROGR - Control specialization, Year 1 (compulsory)


Professor  Bo Egardt


ESS075   Nonlinear and adaptive control

Course evaluation:


For single subject courses within Chalmers programmes the same eligibility requirements apply, as to the programme(s) that the course is part of.

Course specific prerequisites

A basic course in automatic control and familiarity with state space techniques (as taught in e.g. the SCM course Digital control)


The purpose of this course is to introduce fundamental techniques to solve industrial control problems, for which linear models are insufficient or difficult to obtain from physical data. The purpose of the course is also to introduce modern software tools to support the analysis and synthesis of nonlinear control systems.

Learning outcomes (after completion of the course the student should be able to)

Understand and explain the limitations of linear control methods, and discuss the practical implications of this

Identify and describe the most important phenomena in nonlinear dynamical systems
Describe a few applications where nonlinear dynamics is an essential ingredient in the system design

Analyse the stability properties of nonlinear systems

Apply a few methods for nonlinear control system design and to assess the performance of the resulting design
Use software tools for analysis and synthesis of nonlinear control systems, and to present and motivate their solutions

Understand the basic principles for optimal and adaptive control and be able to solve simple problems


The course is comprised of three main blocks:
Analysis of nonlinear systems:
Common nonlinearities. Phase plane analysis. Stationary points and limit cycles. Stability. Lyapunov's method. Describing function.

Design of nonlinear control systems:
Gain scheduling. Synthesis using stability theory. Model predictive control. Exact linearization. Optimal control. Pontryagin's maximum principle. Bang-bang control. Hamilton-Jacobi-Bellman's equation.

Adaptive control:
Principles for adaptive control. Model reference adaptive systems. Separation of identification and control. Self-tuning regulators.


The course is organised as a number of lectures and problem sessions, and a mandatory laboratory module, including analysis and design assignments.


To be decided


Written exam with TH grading; project with assignments and laboratory sessions (pass/fail).

Page manager Published: Thu 04 Feb 2021.