Current/Upcoming Courses: Dynamics and Control of Bipedal Robots (CDS 270-2), Caltech, third term (taught in 2017).  Nonlinear Dynamics (CDS 232), Caltech, second term. Nonlinear Control (CDS 233), Caltech, third term.   Hybrid Systems: Dynamics and Control (CDS 242), Caltech, third term (not offered every year). Past Classes Taught:  (complete discription here:  CV) Nonlinear systems (ECE 6552), Georgia Tech, graduate level course. Capstone Design (ME 4182), Georgia Tech, Senor level undergraduate course . Engineering Laboratory (MEEN 404), Texas A&M, Senior level undergraduate course. Dynamics and Vibrations (MEEN 363), Texas A&M, Junior level undergraduate course. Design of Nonlinear Control Systems (MEEN 655), Texas A&M, Graduate course. Dynamic Systems and Controls (MEEN 364), Texas A&M, Junior level undergraduate course. Introduction to Dynamics (CDS 140A), Caltech, Senior undergraduate first year graduate course.