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Contents
Homework
Activities
Notes
- Day 02 (velocity control example and state-space models)
- Day 03 (linearization)
- Day 07 (stability)
- Day 08 (diagonalization)
- Day 12 (eigenvalue placement)
- Day 13 (ackermann’s method)
- Day 14 (controllability)
- Day 16 (LQR for scalar system)
- Day 17 (LQR for general system)
- Day 18 (example design report and example code)
- Day 19 (project videos)
- Day 20 (introduction to observers)
- Day 21 (observer implementation, design, and analysis)
- Day 22 (more about observer implementation, design, and analysis)
- Day 23 (nonlinear sensor models)
- Day 24 (observer implementation)
- Day 25 (optimal observers)
- Day 26 (more about optimal observers)
- Day 28
- Day 29 (tracking)
- Day 31 (planning)
- Day 32 (frequency response)
- Day 33 (transfer functions)
- Day 34 (application of frequency response analysis to drone)
REPORT 01
REPORT 02
REPORT 03
CODE 01
CODE 02
CODE 03
Videos
- Day 01 (welcome and example)
- Day 02 (velocity control activity and state space models)
- Day 03 (linearization)
- Day 04 (first design project)
- Day 05 (draft reports and example)
- Day 06 (example project-like code)
- Day 07 (solutions to and stability of closed-loop systems)
- Day 08 (diagonalization)
- Day 09 (more diagonalization)
- Day 10 (the link between the gain matrix, the eigenvalues, and the closed-loop response)
- Day 11 (plots for analysis of models and closed-loop systems)
- Day 12 (eigenvalue placement)
- Day 13 (ackermann’s method and DP2)
- Day 14 (controllability)
- Day 15 (condition number, error/effort activity)
- Day 16 (more LQR)
- Day 17 (yet more LQR, and design project feedback)
- Day 18 (example design report and code)
- Day 19 (project videos)
- Day 20 (introduction to observers)
- Day 21 (observer implementation, design, and analysis)
- Day 22 (more about observer implementation, design, and analysis)
- Day 23 (nonlinear sensor models)
- Day 24 (observer implementation)
- Day 25 (introduction to optimal observers)
- Day 26 (more about optimal observers)
- Day 27 (summary of optimal observers, and random number generation)
- Day 28 (plagiarism)
- Day 29 (tracking)
- Day 30 (DP4)
- Day 31 (choosing what to track)
- Day 32 (frequency response)
- Day 33 (transfer functions)
- Day 34 (application of frequency response analysis to drone)
- Day 35 (review)
Supplementary Videos
Observers
- What is an observer?
- Do observers make sense?
- When does an observer work?
- How to choose $L$ for an observer?
- Do observers break controllers?
- When is observer design possible?
Optimal observers
- What is an optimal observer?
- What problem is solved to produce an optimal observer?
- Do optimal observers make any sense at all?
Frequency response
- What is the transfer function? What is the frequency response? Why are these things important?
- What is the solution to a system with input?
- What is a complex number?
- How do I derive the transfer function?
- How do I derive the frequency response?