Control Bootcamp

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About Course

This Control Bootcamp course provides a rapid overview of optimal control (controllability, observability, LQR, Kalman filter, etc.).

It is not meant to be an exhaustive treatment, but instead provides a high-level overview of some of the main approaches, applied to simple examples in Matlab.

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What Will You Learn?

  • 1 Overview: Overview lecture for bootcamp on optimal and modern control. In this lecture, we discuss the various types of control and the benefits of closed-loop feedback control.
  • 2 Linear Systems
  • 3 Stability and Eigenvalues
  • 4 Linearizing Around a Fixed Point
  • 5 Controllability
  • 6 Controllability, Reachability, and Eigenvalue Placement
  • 7 Controllability and the Discrete-Time Impulse Response
  • 8 Degrees of Controllability and Gramians
  • 9 Controllability and the PBH Test
  • 10 Cayley-Hamilton Theorem
  • 11 Reachability and Controllability with Cayley-Hamilton
  • 12 Inverted Pendulum on a Cart
  • 13 Eigenvalue Placement for the Inverted Pendulum on a Cart
  • 14 Linear Quadratic Regulator (LQR) Control for the Inverted Pendulum on a Cart
  • 15 Motivation for Full-State Estimation
  • 16 Observability
  • 17 Full-State Estimation
  • 18 Kalman Filter
  • 19 Observability Example in Matlab
  • 20 Observability Example in Matlab (Part 2)
  • 21 Kalman Filter Example in Matlab
  • 22 Linear Quadratic Gaussian (LQG)
  • 23 LQG Example in Matlab
  • 24 Introduction to Robust Control
  • and much more

Course Content

Control Bootcamp

  • Control Bootcamp: Overview
    00:00
  • Linear Systems [Control Bootcamp]
    00:00
  • Stability and Eigenvalues [Control Bootcamp]
    00:00
  • Linearizing Around a Fixed Point [Control Bootcamp]
    00:00
  • Controllability [Control Bootcamp]
    00:00
  • Controllability, Reachability, and Eigenvalue Placement [Control Bootcamp]
    00:00
  • Controllability and the Discrete-Time Impulse Response [Control Bootcamp]
    00:00
  • Degrees of Controllability and Gramians [Control Bootcamp]
    00:00
  • Controllability and the PBH Test [Control Bootcamp]
    00:00
  • Cayley-Hamilton Theorem [Control Bootcamp]
    00:00
  • Reachability and Controllability with Cayley-Hamilton [Control Bootcamp]
    00:00
  • Inverted Pendulum on a Cart [Control Bootcamp]
    00:00
  • Pole Placement for the Inverted Pendulum on a Cart [Control Bootcamp]
    00:00
  • Linear Quadratic Regulator (LQR) Control for the Inverted Pendulum on a Cart [Control Bootcamp]
    00:00
  • Motivation for Full-State Estimation [Control Bootcamp]
    00:00
  • Control Bootcamp: Observability
    00:00
  • Control Bootcamp: Full-State Estimation
    00:00
  • The Kalman Filter [Control Bootcamp]
    00:00
  • Control Bootcamp: Observability Example in Matlab
    00:00
  • Control Bootcamp: Observability Example in Matlab (Part 2)
    00:00
  • Control Bootcamp: Kalman Filter Example in Matlab
    00:00
  • Control Bootcamp: Linear Quadratic Gaussian (LQG)
    00:00
  • Control Bootcamp: LQG Example in Matlab
    00:00
  • Control Bootcamp: Introduction to Robust Control
    00:00
  • Control Bootcamp: Three Equivalent Representations of Linear Systems
    00:00
  • Control Bootcamp: Example Frequency Response (Bode Plot) for Spring-Mass-Damper
    00:00
  • Control Bootcamp: Laplace Transforms and the Transfer Function
    00:00
  • Control Bootcamp: Benefits of Feedback on Cruise Control Example
    00:00
  • Control Bootcamp: Benefits of Feedback on Cruise Control Example (Part 2)
    00:00
  • Control Bootcamp: Cruise Control Example with Proportional-Integral (PI) control
    00:00
  • Control Bootcamp: Sensitivity and Complementary Sensitivity
    00:00
  • Control Bootcamp: Sensitivity and Complementary Sensitivity (Part 2)
    00:00
  • Control Bootcamp: Loop shaping
    00:00
  • Control Bootcamp: Loop Shaping Example for Cruise Control
    00:00
  • Control Bootcamp: Sensitivity and Robustness
    00:00
  • Control Bootcamp: Limitations on Robustness
    00:00
  • Control Bootcamp: Cautionary Tale About Inverting the Plant Dynamics
    00:00
  • Control systems with non-minimum phase dynamics
    00:00
  • Model Predictive Control
    00:00

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