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Slotine Lectures on Nonlinear Systems

Textbook and
Lecture Duration
References

Example 1.1,
1. Introduction 1:14:56
Sections 3.1, 3.2

Sections 3.3,
2. Basic Lyapunov Theory 1:18:12
3.4.1, 3.4.2

3. Lyapunov Stability Analysis 1:18:25 Section 3.4.3

Sections 3.6 and


4. Convergence to Invariant Sets 1:21:05
3.4.3

Sections 4.2 and


5. Stability of Time-Varying Systems 1:19:02
4.5

6. Sliding Variables 1:20:22 Section 7.1

7. Robust Control 1:17:52 Sections 7.2, 7.3

8. Adaptive Control 1:18:56 Chapter 8

Exercise 8.8
9. Robust Adaptive Control 1:16:21
R6, R7

10. Adaptive Robot Control 1:19:15 Chapter 9

11. Feedback Linearization 1:20:52 Section 6.1

12. Basic Differential Geometry Tools 1:18:39 Section 6.2

Section 6.3 and


13. Controllability, Integrability, Backstepping 1:11:19
pp 258-262
14. Introduction to Contraction Analysis 1:20:22 R1

15. Basic Results in Contraction Analysis 1:18:39 R1, R2

16. Combinations of Contracting Systems 1:19:37 R1, R2

17. Virtual Systems 1:17:29 R3

18. Synchronization 1:15:36 R3, R4

19. Stable Invariant Subspaces, Polyrhythms 1:18:16 R4

20. How Synchronization Protects from Noise 1:13:43 R5

Textbook reference for lectures 1-13 is

Applied Nonlinear Control, Slotine and Li, Prentice-Hall 1991

Main references for lectures 14-20 are

R1 Lohmiller, W., and Slotine, J.J.E., "On Contraction Analysis for Nonlinear Systems," Automatica,
34(6), 1998

R2 Slotine, J.J.E., "Modular Stability Tools for Distributed Computation and Control," Int. J.
Adaptive Control and Signal Processing, 17(6), 2003

R3 Wang, W., and Slotine, J.J.E., "On Partial Contraction Analysis for Coupled Nonlinear
Oscillators," Biological Cybernetics, 92(1), 2005

R4 Pham, Q.C., and Slotine, J.J.E., "Stable Concurrent Synchronization in Dynamic System
Networks," Neural Networks, 20(1), 2007

R5 Tabareau, N., Slotine, J.J.E., and Pham, Q.C., "How Synchronization Protects from Noise," PLoS
Computational Biology 6(1), 2010

R6 Slotine, J.J.E., and Coetsee, J.A., "Adaptive Sliding Controller Synthesis for Nonlinear Systems,"
Int. J. Control, 43(4), 1986

R7 Sanner, R., and Slotine, J.J.E., "Gaussian Networks for Direct Adaptive Control," I.E.E.E. Trans.
Neural Networks, 3(6), 1992