Nonlinear Systems

Where undergraduate control theory leans on the comfort of linearity — superposition, transfer functions, eigenvalues — this graduate course confronts what actually happens in real systems: equilibria that multiply, limit cycles that refuse to die, and stability that has to be redefined from scratch via Lyapunov functions, passivity, and small-gain arguments. You'll work through Khalil chapter by chapter, doing problem sets and written exams that demand you prove things rather than just simulate them, with a report component pushing toward a recent topic. It's the foundational toolkit for anyone going into robotics, power electronics, or adaptive control, where the linearization eventually breaks and you need to know why.