Upon completion of this course students will be able to deal with control design for the systems with plant nonlinearities. The subjects will include: Lyapunov stability (Lyapunov direct method, BIBO systems, passivity); frequency methods (describing function, limit cycles, small gain theorem); motion control (1 dof systems, typical nonlinearities, friction, backlash, dead zone, systems with discontinuities); MIMO systems (converters and machines, robotic manipulators control, mobile robots, trajectory tracking, obstacle avoidance).