Lecture slides

• Lecture 1
• Lecture 2
• Lecture 3
• Lecture 4, 5
• Lecture 5
• Lecture 6
• Lecture 7
• Lecture 8
• Lecture 9
• Lecture 10
• Lecture 11
• Lecture 12
• Lecture 13

Lecture videos

• Full playlist
• Lecture 2
• Lecture 4
• Lecture 5
• Lecture 6
• Lecture 7
• Lecture 8
• Lecture 10
• Lecture 11
• Lecture 12 - version 1
• Lecture 12 - version 2
• Lecture 13
• Lecture 14

Labs

• Assignment / lab / submission / gradable item # 1:
  • colab
• Assignment / lab / submission / gradable item # 2:
  • colab
  • PDF
• Assignment / lab / submission / gradable item # 3:
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Self-study with Colab

• Practice 1
• Practice 2
• Practice 3
• Practice 4
• Practice 5
• Practice 6
• Practice 7
• Practice 8
• Practice 9
• Practice 10
• Practice 11
• Practice 12

For contributors

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Book suggestions

Lecture 1. State-Space, ODE

• Control Systems Engineering Norman S. Nise
  • Chapter 3.3: The General State-Space Representation
  • Chapter 3.4: Applying the State-Space Representation
• Systems of First Order Linear Differential Equations.
  • Download
• [Control theory by S. Simrock]
  • Sections 1, 3

Lecture 2. Stability

• State Space Stability (Linear Systems Theory EECS 221a, Berkeley)
• Control Systems Engineering Norman S. Nise (chapters 3.3, 3.4)
• Paul's Online Notes
  • Systems of linear ODE
  • Solutions for them
• Astolfi, A., 2006. Systems and Control Theory: An Introduction. Imperial College London lecture notes.
  • 2.3.1 Linear systems (on equilibrioum of linear systems)
• Stability for LTI via Jordan block representation (MAE598, LMIs in Control, Stability and Eigenvalues)
  • Video

Lecture 3. Transfer functions

• Control Systems Engineering, by Norman S. Nise
  • chapter 2.2 Laplace Transform Review
  • chapter 2.3 The Transfer Function (for self-study, in case of interest)
• Cho W. S. To, Introduction to Dynamics and Control in Mechanical Engineering Systems.
  • 2 Review of Laplace Transforms
  • 8.3 Transfer Functions
• Control theory by S. Simrock
  • Sections 2, 3 and 4
• (Advanced) Systems and signals Background information for block diagrams (MAE598, LMIs in Control)
• (Advanced) Laplace transform and H-norms (MAE598, LMIs in Control)
• (Advanced) Proper transfer functions, KYP Lemma (MAE598, LMIs in Control)

Lecture 4. Stabilizing control

• Control theory by S. Simrock
  • Sections 5, 6 (stability discussed in terms of TF)
• Module 9: State Feedback Control Design
  • Lecture Note 1
• 16.31 Feedback Control Systems
• Chapter 6 State Feedback

Lecture 5. Discrete Systems

• Control theory by S. Simrock
  • Section 7 (goes to z-transform, which is outside the scope of our course)
• Astolfi, A., 2006. Systems and Control Theory: An Introduction. Imperial College London lecture notes:
  • 1.2.9 Approximate discrete-time models;
  • Proposition 2.3 (Trajectories of linear, discrete-time, systems) - on Controllability
• Dahleh, M., Dahleh, M.A. and Verghese, G., 2004. Lectures on dynamic systems and control. A+ A, 4(100), pp.1-100. (goes to z-transform, which is outside the scope of our course):
  • Lectures

Lecture 6, 7 - Fundamental subspaces, Projectors.

• Subspaces (MAE598, LMIs in Control)

Lecture 8 Lyapunov Theory

• 3.9 Liapunov’s direct method
• Universita degli studi di Padova Dipartimento di Ingegneria dell'Informazione, Nicoletta Bof, Ruggero Carli, Luca Schenato, Technical Report, Lyapunov Theory for Discrete Time Systems
• Lyapunov Theory (MAE598, LMIs in Control)

Lecture 9 LQR

• (Underactuated Robotics) Linear Quadratic Regulators
• (CS 287: Advanced Robotics, Fall 2015) infinite horizon discrete LQR as an interative procedure, linear and affine cases, LTI and LTV cases
• (advanced) connection between LQR and Kalman Filter (MAE598, LMIs in Control)

Lecture 10 Observers

• Observers and the Separation Principle
• The Luenberger Observer Framework (MAE598, LMIs in Control)

Lecture 11 Controllability, Observability

• Invariant subspaces, Sylvester equation, PBH
• EE363 Winter 2008-09 Lecture 6 Invariant subspaces
• Controllability (MAE598, LMIs in Control)

Other

MIMO, LTI, LTV

• Equilibrium Points of Linear Autonomous Systems

Optimal Control of LTI systems

• (Underactuated Robotics) Continuous dynamic programming.
  • Link
• Control theory by S. Simrock
  • Section 8

Noise, Information, Observation

• For statistical prerequisites, see Mathematics for Machine Learning
  • PCA, Week 1

Observer Design, Kalman Filter

• Control theory by S. Simrock
  • Section 8.1
• Kalman Filters, discrete and contininous (MAE598, LMIs in Control)
• An LMI for the Kalman Filter

Parameter estimation

• Control theory by S. Simrock
  • Section 9

Difference between linear and non-linear dynamics

• Intro to Nonlinear Systems, Existence and Uniqueness (MAE598, LMIs in Control)