CP 241: Applied Linear and Nonlinear Control (2:1)


Vaibhav Katewa and Pushpak Jagtap
Robert Bosch Center for Cyber-Physical Systems (RBCCPS)
Email: vkatewa(at)iisc(dot)ac(dot)in, pushpak(at)iisc(dot)ac(dot)in

Class Timings

Mon,Wed,Fri 11:00-12:00. First class on August 02, 2023.


MP 30 (ECE Department)

Office Hours

Fri 10:00-11:00 am in MP 320, ECE Department

Class Logistics

Registered students will be added to a Class group in Microsoft Teams. The link to join the Teams group is here. All the course correspondence will happen in this Teams group.

Lectures on Monday and Wednesday will focus on theory, and the lecture on Friday will focus on simulation and experiments.

Teaching Assistants

  1. Ratnangshu Das (Email:ratnangshud(at)iisc(dot)ac(dot)in)

  2. Sangeerth P (Email:sangeerthp(at)iisc(dot)ac(dot)in)

  3. Shravista Kashyap (Email:chidres(at)iisc(dot)ac(dot)in)

Course Overview and Syllabus

This is an introductory graduate level course on linear and nonlinear control systems theory. The students will learn analysis, design, and control of physical systems that are dynamic in nature (that is, systems which evolve over time). The course will focus on linear systems for two-thirds of duration and on the nonlinear systems for one-thirds of the duration. There will be emphasis on mathematical analysis of these systems using tools from linear algebra and differential equations, as well as simulation exercises to appreciate practical challenges in designing such systems.

We will broadly cover the following topics:

  1. Introduction and mathematical descriptions of dynamical systems

  2. Time response and trajectory behaviors

  3. Stability

  4. Controllability, observability and control design methods for linear systems

  5. Control design methods for nonlinear systems


Exposure to undergraduate level linear algebra/matrix theory and differential equations is desired. We will review relevant concepts from linear algebra in the course.


  1. Assignments: 35%

  2. One Midterm: 25%

  3. Endterm: 40%


  1. A Linear Systems Primer by Antsaklis and Michael, Birkhauser, 2007 (available for download using IISc institutional access e-Book Link).

  2. Linear Systems Theory by Hespanha, Princeton University Press (2nd Edition), 2018.

  3. Linear System Theory and Design by Chen, Oxford University Press (4th Edition), 2013.

  4. Nonlinear Systems by Khalil, Prentice Hall (3rd edition), 2002.

  5. Nonlinear Systems Analysis by Vidyasagar, Society for Industrial and Applied Mathematics, 2002.