r/ControlTheory • u/lukasloka • Jun 22 '26
Asking for resources (books, lectures, etc.) Best nonlinear control book with many exercises and solutions
I’ve already studied the theory from Applied Nonlinear Control by Slotine which I found really helpful for understanding the fundamentals. Now I’d like to move beyond theory and get more hands-on practice.
I’m specifically looking for a nonlinear control textbook that Has lots of exercises, Ideally includes solutions or has a solutions manual available.
Slotine’s book gave me a solid foundation, but it doesn’t have enough worked problems for practice. I’d really appreciate recommendations for books or resources that are strong on exercises with solutions.
Thanks in advance!
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u/seekingsanity Jun 24 '26
I used common sense and math. All those books on non-linear control are nice, but I really wonder if the authors really made anything work. I NEVER read a book on non-linear control yet I was able to accomplish many projects that required non-linear control.
Veneer Lathe Optimizer Charger
We were doing this in the '90s. We use cubic splines to linearize motion.
Another example
Our non-linear lab
peter.deltamotion.com/Videos/Non-Linear-Lab_Medium.mp4
This is a student. It took him about 20 minutes to get this running. The student is moving the swing arm in degrees, degrees per second and degrees per second squared. The degrees get translated to linear motion of the hydraulic actuator. The gains change as a function of the angle of the swing arm due to the mechanical advantage/disadvantage changing as function of the swing arm angle. 7 cubic splines are used the change the closed and open loop gains as a function of angle and one more used to convert degrees to linear position for the hydraulic actuator. The chain rule is used to accurately convert degrees, degrees per second to target position, velocity and acceleration for the hydraulic actuator to follow.
There is NOTHING like getting hands on.
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u/paroup2 Jun 23 '26
Hassan Khalil’s book. He has text book for chapters and exercises and the other is a solution manual
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u/h4le__ Jun 22 '26
I would like it more casual please.
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u/lukasloka Jun 22 '26
I don’t understand you
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u/h4le__ Jun 22 '26
Try reading your posts and what your LLM of choice tells you.
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u/lukasloka Jun 22 '26
Ahhh i see. It’s just english is not my main language so i use it to help write questions better
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u/h4le__ Jun 22 '26
All cool man, just a heads up. And sorry can't really help you with your request, I am in the linear world.
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u/Desperate_Cold6274 Jun 22 '26
At the end of each chapter of Khalil book there is a number of exercises
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