CDS 232 - Nonlinear Dynamics

This course studies nonlinear dynamical systems beginning from first principles. Topics include: existence and uniqueness properties of solutions to nonlinear ODEs, stability of nonlinear systems from the perspective of Lyapunov, and behavior unique to nonlinear systems; for example: stability of periodic orbits, Poincare maps and stability/invariance of sets. The dynamics of robotic systems will be used as a motivating example.