| 8/29/2016 |
Overview of control systems and linear algebra review |
Control systems overview,Linear algebra review,Least-square fitting, Slides: Overview, Slides: Lin Alg review, Assignment 1 |
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| 9/5/2016 |
Labor day, NO CLASS |
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| 9/12/2016 |
Lagrange Methods, System dynamics, state space models and their solution |
System dyamics and state space models,Equations of motion of 2R manipulator,Solution of state space models Slides: System Dynamics, Slides: State Space Solution |
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| 9/19/2016 |
Controllability and Observability, Controller/observer synthesis |
Controllability,Control Synthesis,Slides: Controllability and Control synthesis,Assignment 2 |
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| 9/26/2016 |
Optimal control, dynamic programming and multiple shooting |
Optimal control, dynamic programming and multiple shooting,Slides Optimal control |
| 10/03/2016 |
Direct collocation for optimal control |
Direct collocation,Slides Direct collocation |
| 10/10/2016 |
Output feedback control, observability and observer design |
Observability and observer design,Slides Observability |
| 10/17/2016 |
Control and estimation under uncertainity |
Control and estimation under uncertainity,Slides: Uncertainity |
| 10/24/2016 |
Kalman Filter |
Kalman Filter,Slides: Kalman |
| 10/31/2016 |
MATLAB for simulation of dynamic systems |
Slides: MATLAB, Assignment3: Due Nov 14, 2016 |
| 11/06/2016 |
Linear control technqiues for nonlinear systems |
Slides: Linear Control for Nonlinear systems, Linear control techniques for nonlinear systems |
| 11/14/2016 |
Nonlinear systems and analysis |
Slides: Nonlinear system analysis, Slides: Nonlinear control introduction, Lyapunov Method |
| 11/21/2016 |
Linearization and backstepping |
Slides: Linearization, Slides: Backstepping |
| 11/28/2016 |
Sliding Mode and Adaptive control |
Slides: Sliding Mode, Slides: Adaptive control |
| 12/05/2016 |
Wheeled robot and Kalman filter |
Slides: Wheeled robot, Slides: Nonlinear Kalman |
