Calendar
Introduction to Nonlinear Systems
Second-Order Systems
- Jan 14
- 3 - Periodic Orbits in the Plane
- Jan 16
- 4 - Periodic Orbits in the Plane Continued
- Jan 21
- 5 - Bifurcations
Stability Analysis
- Jan 23
- 6 - Center Manifold Theory
- Jan 24
- HW 1 due
Fundamental Properties
Lyapunov Stability
- Jan 30
- 8 - Lyapunov Stability Theory
- Feb 4
- 9 - LaSalle-Krasovskii Invariance Principle
- Feb 6
- 10 - Lyapunov’s Linearization
- Feb 7
- HW 2 due
- Feb 11
- 11 - Time-Varying Systems
- Feb 13
- 12 - Time-Varying Systems and Lyapunov Design
- Feb 18
- 13 - Backstepping
- Feb 20
- 14 - Midterm Review
- Feb 21
- HW 3 due
- Feb 25
- Midterm Exam
Feedback Control
- Feb 27
- 15 - Introduction to Feedback Linearization
- Mar 4
- 16 - Feedback Linearization 1
- Mar 6
- 17 - Feedback Linearization 2
- Mar 11
- 18 - Feedback Linearization 3
- Mar 13
- 19 - Feedback Linearization 4
- Mar 14
- HW 4 due
Optimization-Based Control
Safety-Critical Control
- Apr 3
- 23 - Barrier Functions
- Apr 4
- HW 5 due
- Apr 8
- 24 - Control Barrier Functions
- Apr 10
- 25 - Higher Order Control Barrier Functions
Hybrid Systems for Bipedal Locomotion
- Apr 15
- 26 - Hybrid Systems and Zero Dynamics
- Apr 17
- 27 - Final Exam Review
- Apr 18
- HW 6 due
- Apr 22
- Interactive Practice Problems (Kahoot)
- Apr 29
- Final Exam