top of page

EENG 485:  Nonlinear Control Systems


The Course also found, over UoB-Blackborad:    or   visit the above LEARNING link


Office Hours :  Any time, please send an e-mail to :

Office No: 14-146-A

Office Location:  College of Engineering, Building 14.

Office Telephone:  ++ 973 17876286,  or  ++ 973 17876606


EENG 485:  Nonlinear Control Systems  :   [3,1,3] :  Prereq.  :  EENG381, Control Systems.


This Course Goal:  refer to (EENG 485 ABET) Document:  UOB QAAC - EENG485, Course Syllabus Form EENG485  QAAC  Form 


To provide the necessary background in nonlinear system analysis and nonlinear control system design for those strongly interested in control system design.


A standard undergraduate-level background in control system design.  The Course will be fully supported by a large number of laboratory experiments and practical works.  

Hence,  a student will learn the basics of  Matlab and use it as a support for analysis and design of lab oriented experiments.  


EENG 485 :  Nonlinear Control Systems, Grading System : 

Assignments (3):                       10%

Course Project:                        10%

Examinations Midterm:           30%

LABS (total of 5 Labs)              10%

Final Exam                                40%              

Textbook(s): Hassan K Khalil, Nonlinear Systems, 3rd Edition Prentice - Hall International (UK), 2002 References: JJE Slotine & W.LI .

Applied Nonlinear Control. Prentice Hall, Englewood Clifs, New Jersey 1991

Other resources used (e.g. e-Learning, field visits, periodicals, software, etc.)

Course description (from the UOB catalog):
Nonlinear Control treats the analysis and synthesis of nonlinear control systems. The course consists of three main parts:

an analysis part presenting the theoretical foundation; a design part introducing the most important control design methods;

and a part dealing with other nonlinear control methods.

Course Intended Learning Outcomes (CILOs): Mapping to PILOs
Demonstrate nonlinear problems and phenomena Solve and analyze using Linearization, phase-plane analysis.

Analyze stability theory: Lyapunov methods.

Analyze stability theory: input-output methods.

Analyze Describing function.

Design a system using high-gain method and sliding modes.

Design a system using Lyapunov methods, and feedback linearization.

Covered Topics:

Introduction to Nonlinear Control Systems :

Review of Classical Control Systems

Introduction to  the course

Solution of Differential Equations

Second Order Dynamic Systems - Nonlinear Systems.


Nonlinear Control System Elements :

Phase Plane Analysis 1

Phase Plane Analysis 2

Lyapunov Theorem for Local Stability

Lyapunov Functions (Energy Functions)

Lyapunov Function for Linear System

Passivity of Nonlinear System


Advanced  Topics:  Controller Design :

Adaptive Noise Cancellation by Lyapunov Design

Linear System with Static Nonlinear Feedback (1)

Gain Adaptation — Closed-Loop System

Describing Function for Odd Static Nonlinearities

Nonlinear Design Methods

Linearization Through High Gain

Gain Scheduling

Variable Structure Control and Sliding Mode Controller




Complete Class Lectures, and Notes Download:         Lectures Notes: Access via UoB Blackboard link;  UoB BB Course   

UOB QAAC - EENG485, Course Syllabus Form            EENG485  QAAC  Form 


Samples of Course Codes, ...

Useful Examples,

Sliding Mode Control,  SMC

Adaptive Control,

Feedback Linearization,

Lyapunov Redesign,

Gain Schedule

Download Here >>   CODING


Nonlinear Control Previous Midterms &  Final Exams - Samples of Exams

Course Lab Sessions Download Here:     EENG485_lab_manual

Course Lab Sessions - List of Equipment, watch the Control Lab Equipment Here,  the Video (press to watch).

Nonlinear Control - CODING:                  Download_EENG485_Codes


Object Oriented Programming using Matlab (OOP):

uses of classes (class), objects (obj) and data structure (struct) .. if you would like to use this approach in programming for this course, this will be great.  This is optional, but it is always good to learn latest advanced programming tools.  Download slides about Matlab (oop), from the Advanced MATLAB for Scientific Computing, Stanford University.  (press here to download)  OOP-Matlab

bottom of page