Calendar

Introduction to Nonlinear Systems

Jan 13: 1 - Intro to Nonlinear Systems
Jan 15: 2 - Nonlinear Phenomena

Second-Order Systems

Jan 20: 3 - Periodic Orbits in the Plane
Jan 22: 4 - Periodic Orbits in the Plane Continued
Jan 27: 5 - Bifurcations
Jan 28: HW 1 due

Stability Analysis

Jan 29: 6 - Center Manifold Theory
Feb 3: 7 - Existence and Uniqueness Theorems for ODEs; 7b - Proof of Existence and Uniqueness Theorems for ODEs

Lyapunov Stability

Feb 5: 8 - Lyapunov Stability Theory
Feb 10: 9 - LaSalle-Krasovskii Invariance Principle
Feb 12: 10 - Lyapunov’s Linearization
Feb 17: 11 - Time-Varying Systems
Feb 18: HW 2 due
Feb 19: 12 - Time-Varying Systems and Backstepping
Feb 24: 13 - Exam 1 Review
Feb 26: Exam 1

Feedback Control

Mar 3: 14 - Introduction to Feedback Linearization
Mar 5: 15 - Feedback Linearization 1
Mar 10: 16 - Feedback Linearization 2
Mar 12: 17 - Feedback Linearization 3
Mar 17: 18 - Feedback Linearization 4
Mar 18: HW 3 due

Optimization-Based Control

Mar 19: No class - cancelled
Mar 24: No class - Spring Break
Mar 26: No class - Spring Break
Mar 31: [19 - Control Lyapunov Functions]
Apr 2: [20 - Convex Optimization Preliminaries]; [21 - Convex Optimization and CLF-QPs]

Safety-Critical Control

Apr 7: 22 - Barrier Functions
Apr 9: 23 - Control Barrier Functions
Apr 14: 24 - Higher Order Control Barrier Functions
Apr 15: HW 4 due
Apr 16: 25 - Exam 2 Review
Apr 21: Exam 2

Hybrid Systems for Bipedal Locomotion

Apr 23: 26 - Hybrid Systems and Zero Dynamics
Apr 28: Final Project Due