Slotine Lectures on Nonlinear Systems

 

Lecture

Duration

Textbook Section

1. Introduction

1:14:56

Example 1.1, Sections 3.1, 3.2

2. Basic Lyapunov Theory

1:18:12

Sections 3.3,  3.4.1, 3.4.2

3. Lyapunov Stability Analysis

1:18:25

Section 3.4.3

4. Convergence to Invariant Sets

1:21:05

Sections 3.6 and 3.4.3

5. Stability of Time-Varying Systems

1:19:02

Sections 4.2 and 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

9. Robust Adaptive Control

1:16:21

Exercise 8.8

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

13. Controllability, Integrability, Backstepping

1:11:19

Section 6.3 and pp 258-262

14. Introduction to Contraction Analysis

1:20:22

 

15. Basic Results in Contraction Analysis

1:18:39

 

16. Combinations of Contracting Systems

1:19:37

 

17. Virtual Systems

1:17:29

 

18. Synchronization

1:15:36

 

19. Stable Invariant Subspaces, Polyrhythms

1:18:16

 

20. How Synchronization Protects from Noise

1:13:43

 

 

 

Textbook reference for lectures 1-13 is

 

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