Robust Nonlinear Control Theory with Applications to Aerospace Vehicles

Richard Murray, John Doyle, Jerry Marsden, Steve Wiggins
Control and Dynamical Systems
California Institute of Technology

Gary Balas
University of Minnesota

Blaise Morton
Honeywell Technology Center


Welcome to the homepage for the Caltech PRET program on Robust Nonlinear Control Theory with Applications to Aerospace Vehicles. This program ran from 1995-2000 under support by the Air Force Office of Scientific Research (Marc Q. Jacobs, Program Monitor).  This information was collected by Richard M. Murray; the page is no longer actively maintained, but serves as an archive for work performed by the center.

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Project Overview

The focus of this program was on fundamental research in general methods of analysis and design of complex uncertain nonlinear systems. Our approach built on our successes in blending robust and nonlinear control methods,
with a much greater emphasis on the use of local and global techniques in nonlinear dynamical systems theory. Specific areas of interest included real-time trajectory generation for unmanned aerial vehicles, geometric
mechanics and nonlinear stabilization, and unified techniques for stabilization of nonlinear systems that combine model predictive control techniques with control Lyapunov function techniques. In addition, we explored techniques for modeling and control of chemically reacting systems, with applications to gas turbine engines and materials growth.

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Papers and Presentations

Technical papers [Index, Search]

Selected archival papers describing some of the work in this project:

For a more complete list, see the publication index or search for a specific publication.

Project reports and presentations

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The following individuals were supported or partially supported by this award:

Faculty and senior researchers

Postdoctoral Scholars

Graduate Students

  • Carolyn Beck, Caltech, 1995-96
  • Raktim Bhattacharya, UMN, 1998-2000
  • Anthony Blaom, Caltech, 1995-98
  • Francesco Bullo, Caltech, 1996-98
  • Dong-Eui Chang, Caltech, 1998-99
  • Raffaello D'Andrea, Caltech, 1995-97
  • Jeremy Dillon, Caltech, 1997-98
  • Alex Fax, Caltech, 1996-2000
  • Xiaolin Feng, Caltech, 1995-97
  • Martha Gallivan, Caltech, 1997-2000
  • Suvo Ganguli, UMN, 1999-2000
  • Sonja Glavaski, Caltech, 1995-98
  • Yun Huang, Caltech, 1995-99
  • Michael Kanter, Caltech, 1995-97
  • Sven Khatri, Caltech, 1995-97
  • Rick Lind, UMN, 1995-96
  • Mark Milam, Caltech, 1995-2000
  • John Morris, Caltech, 1995-96
  • Volkan Nalbantoglu, UMN, 1997-1998
  • Matthew Newlin, Caltech, 1995-96
  • Michiel van Nieuwstadt, Caltech, 1995-96
  • Fernando Paganini, Caltech, 1995-96
  • Pablo Parrilo, Caltech, 1997-1998
  • James Primbs, Caltech, 1998-1999
  • Jong-Yeob Shin, UMN, 1997-1998
  • Peter Thomson, UMN, 1995-96
  • Matthew West, Caltech, 1999-2000
  • Jie Yu, Caltech, 1999-2000
  • Xiaoyun Zhu, Caltech, 1995-2000
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Government and industry interactions [Index, Search]

Over the course of the program, many companies and government labs have been involved in the work of the center.  Click on the links below for more information about the nature of the interactions and transitions:

For a more complete list, see the transitions index or search for a specific activity.


The following software has been developed as part of this program.  Highlighted links are available for download.  For other software, please contact Richard Murray.

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Additional Information

Continuing activities: projects that have continued the work started in this program

Related web resources

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Richard Murray (
Last modified: 24 Dec 2000 12:21:51 AM