The performance requirements in technological systems have led to the widespread use of feedback control and the emergence of non-linear phenomena. However, the most commonly used correctors are based on linearity. The course present the behaviour of non-linear systems and introduces methods for predicting the occurrence of these non-linear behaviours in closed-loop systems designed under the linearity assumption - it will address how to modify the control architecture to avoid these phenomena. The course will also present how to design a control architecture for a system which is described by a non-linear model. (Prerequisite to the Master "Automatic Control Engineering" and basis for the options "Aeronautics" and "Ground Transportation").