Non-linear Control


Content, progress and pedagogy of the module

Students who complete the module will obtain skills within Nonlinear Control including analysis of controllability, observability, and stabilizability and stability, along with control synthesis for non-linear systems, hybrid systems covering dynamical system with both discrete and continuous components, the optimal linear estimator - the Kalman filter - as well as non-linear estimation and sensor fusion.

Learning objectives


  • Lyapunov stability
  • Backstepping
  • Linear Kalman Filters and their limitations
  • The extended Kalman filterThe unscented Kalman filter
  • Particle filtering
  • Kalman filters as parameter estimators
  • The influence of (coloured) sensor and model noise on the filter estimate.
  • Must be able to understand…
  • The invariance principle
  • Feedback linearization


  • Controllability
  • Observability
  • Online estimation techniques to a given system
  • Understand and analyze systems with multiple sensors for the purpose of fusing sensor information to control-relevant information
  • Stabilizability


  • Synthesis of non-linear control systems
  • Synthesis of hybrid control systems
  • Synthesis of estimators for non-linear systems

Type of instruction

As described in § 17.



Name of examNon-linear Control
Type of exam
Written or oral exam
AssessmentPassed/Not Passed
Type of gradingInternal examination
Criteria of assessmentThe criteria of assessment are stated in the Examination Policies and Procedures

Facts about the module

Danish titleIkke-lineære kontrolsystemer
Module codeESNCAK3K2F
Module typeCourse
Duration1 semester
Language of instructionEnglish
Empty-place SchemeYes
Location of the lectureCampus Aalborg
Responsible for the module


Education ownerMaster of Science (MSc) in Engineering (Control and Automation)
Study BoardStudy Board of Electronics and IT
DepartmentDepartment of Electronic Systems
FacultyThe Technical Faculty of IT and Design