Course layout

All documents for the course page are available on course repository on github and on google drive.

Date Description Course links
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
     
9/5/2016 Labor day, NO CLASS —-
     
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
     
9/19/2016 Controllability and Observability, Controller/observer synthesis Controllability,Control Synthesis,Slides: Controllability and Control synthesis,Assignment 2
     
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