List of all ROB courses

4 Credits
Fall term, odd years

Graduate standing, along with prior exposure to linear algebra and differential equations.
Ross Hatton
317 Graf Hall

Course Description

This course serves as an introduction to geometric methods in the analysis of dynamic systems.


  • Manifolds and Lie groups
  • Representations of velocity
  • Holonomic and nonholonomic constraints
  • Constraint curvature and response to cyclic inputs
  • Distance metrics

Learning Outcomes

The student, upon successful completion of this course, will be able to:

  1. Use structured mathematical spaces like manifolds and Lie groups to describe the configuration spaces of physical systems,
  2. Use constraints on these spaces to model the dynamics of such systems, and
  3. Use the way in which these constraints change over the configuration spaces to identify and characterize nonlinear aspects of the system dynamics.