The final exam may be downloaded here.

Solutions to homework 4 may be downloaded here.

Solutions to Homework 3 may be found here.

Some lecture notes on passivity and absolute stability from a previous semester may be downloaded here. These better correspond to what I covered in class than the book, although note that I covered a number of things not in these notes, and furthermore there are some slight differences in many of the theorem statements.

The discussion of the application of passivity to multi-agent formation control follows M. Arcak, “Passivity as a Design Tool for Group Coordination,” IEEE Transactions on Automatic Control, vol. 52, no. 8, Aug. 2007. A free version of the paper may be downloaded here.

Homework 4 may be downloaded here. It will be due on Thursday, May 1st.

Homework 3 may be downloaded here. It will be due on April 15.

Lecture notes from a previous semester of this class can be found here (covering some basics of differential equations and stability) and here (covering Lyapunov theory). These correspond roughly (though not exactly) to the material we covered in class.

The solutions to homework 2 may be found here.

Some recent material is drawn from some recent research papers on polynomial systems and is not found in your textbook. For the material on polynomial differential equations without polynomial Lyapunov functions, see this paper – it is quite short and I covered the entirety of it in class. For results on the complexity of checking stability for polynomial systems, see this paper, where I am planning to cover the proof of Theorem  3.1, as well as Theorem 3.5(c).