TTK4150 Nonlinear Control Systems


  • Lectures are held on Wednesdays, 08:15-11:00 in R5.
  • Flipped classroom: The semester starts in Week 34. Note that we are going to use a flipped classroom for the first four lectures. This means that you study the available videos presenting the contents of both Lecture 1 and Lecture 2 before Wednesday August 30. Wednesday August 30 we meet at 08:15 in R5, and you can then ask questions to the material of Lecture 1 and Lecture 2 that you have studied in the videos, and we will also work through several examples including previous exam problems. Then you study the available videos presenting the contents of Lecture 3 and Lecture 4 before Wednesday September 13. Wednesday September 13 we meet at 08:15 in R5 for questions and examples. Thereafter, we have regular weekly lectures from week 38, except Week 45 (Lecture 11) which will also be flipped. You then watch the videos presenting Adaptive Control before November 8, and Wednesday November 8 we meet at 08:15 in R5 to work through several examples together.
  • Lecture plan: Click here or in the menu to the left for detailed information


  • Six assignments are given, of which four are compulsory.
  • The course guidance session is held on Thursdays, 14:15-16:00 in R5.
  • First guidance: Week 35
  • Last guidance: Week 47
  • Click here or in the menu to the left for detailed information


  • At least four of the six assignments must be approved in order to attend the exam.
  • The exam will be held on December 14, 2023 at 09:00-13:00. The exam accounts for 100/100.
  • During the exam you are allowed to use a NTNU type approved calculator with an empty memory (Code D).


Teaching assistant:

For attending students: In this course we use the learning program Blackboard. If you are a student attending the course, access will be given to files and more information through Blackboard.

Course content:

Have a look at the course content


Hassan K. Khalil, Nonlinear Systems

Alternative 1: CU Nordics Edition, ISBN 9781784490133. The book can be bought at Akademika Gløshaugen or online.
Alternative 2: 3rd Edition, Prentice Hall, 2002, 1995. ISBN 9780130673893. Click here to purchase the book at

Both these editions contain the same material. The CU Nordics Edition is often less expensive than the 3rd edition.
(N.B.: Check the ISBN numbers to make sure that you get the correct edition. Several different editions exist, and for instance, the 2nd edition and the International edition do not contain all the material needed in this course. Also note that the book Nonlinear Control is a different book, and does not contain all the material needed in this course.)

A compendium on Adaptive control.
Selected conference and journal papers.


The courses TTK4105 Control Engineering, and TTK4115 Linear System Theory. It is an advantage, but not an prerequisite, to also follow the course TMA4145 Linear Methods.

2023/08/22 15:11, aurorha