From the linear systems page:
  Most every real problem may start out non-linear and difficult,
  but is approximated and solved as systems of linear equations.

In this part of the course we learn how to formulate the iteration
procedures that solve non-linear equations.


Lecture slides
Lab related: Kinematics of linked structures, homogenous coordinates and several ways to numerically solve inverse kinematics
Homotopy methods slides
Optimization
Misc:
A www page summarizing several 1-D methods