Introduction to Geometric Control Theory

This course is offered to master and PhD students by the Graduate Program in Electrical Engineering at UFMG.

The main goal is to introduce Geometric Control Theory to students that not necessarily have the proper mathematical background on Differential Geometry, such as those that have graduated in Electrical Engineering or Control and Automation Engineering at UFMG.


  1. Nonlinear Control Systems: An Introduction. Alberto Isidori (1989).
  2. Nonlinear Systems Analysis. Vidyasagar (2002). (Chap. 7 for mathematical foundations).
  3. Applied Nonlinear Control. Jean-Jacques Slotine e Weiping Li (1991).
  4. Nonlinear Dynamical Control Systems. Henk Nijmeijer and Arjan Van der Schaft (1996).
  5. Nonlinear Systems: Analysis, Stability and Control. Shankar Sastry (1999).
  6. An Introduction to differential Manifolds and Riemannian Geometry. Boothby, William Munger (1975). Academic Press.
  7. Some modern mathematics for physicists and other outsiders – An Introduction to Algebra, Topology and Functional Analysis. Roman, P. (1975). Pergamon Press Inc.

Lecture Notes