Advanced Methods in Nonlinear Control

The goal of this course is to provide the knowledge for modern design of linear, nonlinear, and optimization-based control and observer methods for MIMO systems. The following methods are presented:

  • iterative learning control
  • model predictive control
  • moving horizon estimation
  • path following control
  • passivity-based methods

The grading takes the form of an individual oral examination. At least two presenters of this course will perform the examination and will ask you questions related to the entire course material. To schedule an appointment, please send an e-mail with a sufficient number of proposed dates to Prof. Kugi (

Current information on teaching mode

All information concerning the teaching mode (presence learning) is available on TISS 376.065.

Current information on exams


Lecture notes