Hassan K. Khalil has written two primary textbooks widely used in control theory: Nonlinear Systems (the comprehensive research reference) and Nonlinear Control (a more recent, focused text for a one-semester course). 📖 Book Options & Table of Contents 1. Nonlinear Control (2015)
This book is designed for a first course in nonlinear control. It is less abstract than the larger Nonlinear Systems text and focuses on design tools.
Chapter 1: Introduction (Nonlinear Models, Common Nonlinearities)
Chapter 2: Two-Dimensional Systems (Qualitative Behavior, Limit Cycles)
Chapter 3: Stability of Equilibrium Points (Lyapunov's Method, Linearization)
Chapter 4: Time-Varying and Perturbed Systems (Input-to-State Stability) Chapter 5: Passivity (Memoryless Functions, State Models) Chapter 6: Input-Output Stability ( Stability, Gain) nonlinear control khalil pdf
Chapter 7: Stability of Feedback Systems (Passivity Theorems, Small-Gain Theorem)
Chapter 8: Special Nonlinear Forms (Normal Form, Zero Dynamics)
Chapter 9: State Feedback Stabilization (Feedback Linearization, Backstepping)
Chapter 10: Robust State Feedback Stabilization (Sliding Mode Control, Lyapunov Redesign)
Chapter 11: Nonlinear Observers (Extended Kalman Filter, High-Gain Observers) Hassan K
Chapter 12: Output Feedback Stabilization (Separation Principle) 2. Nonlinear Systems (3rd Edition, 2002)
This is the classic, 700+ page "encyclopedia" of nonlinear theory. It includes deeper mathematical analysis like the Comparison Lemma and Center Manifold Theorem. Advanced Topics Included: Bifurcation and Chaos Averaging and Singular Perturbations Detailed Converse Lyapunov Theorems 🔗 Official Resources & Previews
You can find official materials and legitimate previews through these academic and publisher portals:
MSU Official Course Page: Dr. Khalil’s Nonlinear Control page at Michigan State University provides lecture slides, errata, and Simulink models.
Publisher Previews: You can view substantial samples and the full table of contents on Pearson or IEEE Xplore. Report: Review of "Nonlinear Systems" by Hassan K
Academic Repositories: Some chapters and older versions are available via university repositories like the UCSD Flying V lab for educational review. 💡 Key Differences Between the Two Books Feature Nonlinear Control (2015) Nonlinear Systems (2002) Primary Goal Control Law Design Stability Analysis & Theory Difficulty Introductory / Intermediate Advanced / Research-level Prerequisites Linear Systems, ODEs Strong Math Foundation (Real Analysis) Length ~400 Pages ~750 Pages
In academic circles, "Khalil" is usually one of three books recommended on the subject. How does it compare?
As of 2025, nonlinear control is increasingly relevant for autonomous vehicles, soft robotics, and power electronics. The search for "nonlinear control khalil pdf" has evolved. Many modern AI coding assistants (like the one powering this article) have been trained on Khalil’s structure. When you ask AI to write a Lyapunov function, it replicates Khalil’s syntax.
Furthermore, Khalil’s recent retirement has solidified the 3rd Edition as the final historical artifact of his teaching. Future editions will likely be penned by former students, making the current 3rd Edition a collector's item for control engineers.