Non-linear Control and Multi-body Systems


Content, progress and pedagogy of the module

Learning objectives


  • Be able to carry out kinematic analysis of multi-body systems
  • Be able to model multi-body dynamical systems using selected methods
  • Be able to develop complete system models that include actuators and possible hard non-linearities
  • Be able to analyse systems using linearization-, Lyapunov- and phase plane methods
  • Be able to design non-linear controllers for considered systems in the presence on uncertain and possibly varying system parameters


  • Be able to establish various types models for non-linear system, including multi-body and actuator models
  • Be able to judge the usefulness of the different analyses and design methods
  • Be able to apply the learned knowledge to analyse and study non-linear dynamical systems
  • Be able to design selected types of non-linear controllers
  • Be able to implement selected types of non-linear controllers


  • Independently be able to describe and analyse non-linear systems
  • Independently be able to design considered non-linear controllers
  • Independently be able to continue own development within the field of non-linear systems analysis and control

Type of instruction

The programme is based on a combination of academic, problem oriented and interdisciplinary approaches and organised based on the following types of instruction that combine skills and reflection:

  • lectures
  • class teaching
  •  project work
  •  workshops
  • exercises (individually and in groups) 
  • teacher feedback
  • professional reflection
  • portfolio work
  • laboratory work
  • and various e-learning activities

The form(s) of teaching will be determined and described in connection with the planning of the semester. The description will account for the form(s) of teaching and may be accompanied by an elaboration of the roles of the participants.

Extent and expected workload

Since it is a 5 ECTS course module, the work load is expected to be 150 hours for the student.



Name of examNon-linear Control and Multi-body Systems
Type of exam
Written or oral exam
Permitted aids
With certain aids:
For more information about permitted aids, please visit the course description in Moodle.
Assessment7-point grading scale
Type of gradingInternal examination
Criteria of assessmentThe criteria of assessment are stated in the Examination Policies and Procedures

Additional information

This course is taught to the 1st semester MSc students at the Mechatronic Control Engineering specialisation and is offered as an elective course at the 3rd semester of all other specialisations. Students of the Mechatronic Control Engineering specialisation cannot elect the module again.

Facts about the module

Danish titleIkke-lineær regulering og flerlegeme systemer
Module codeN-EE-K1-11A
Module typeCourse
Duration1 semester
Language of instructionEnglish
Empty-place SchemeYes
Location of the lectureCampus Aalborg, Campus Esbjerg
Responsible for the module


Study BoardStudy Board of Energy
DepartmentDepartment of Energy
FacultyThe Faculty of Engineering and Science