View source for Supplement: Optimization-Based Control

These notes serve as a supplement to ''Feedback Systems'' by {{Astrom}} and Murray and expand on some of the topics introduced there.  Our focus is on the use of optimization-based methods for control, including optimal control theory, receding horizon control and Kalman filtering.  Each chapter is intended to be a standalone reference for advanced topics that are introduced in ''Feedback Systems''.

* Chapter 1: {{am05pdf|obc08-trajgen|14Jan08|Trajectory Generation and Tracking}}
* Chapter 2: {{am05pdf|obc08-optimal|23Jan08|Optimal Control}}

=== Summary of Changes ===
* 14 Jan 08: updated Ch 1 and posted Ch 2.  Fixed a couple of small bugs in Ch 1.  Changed <math>u_{ff}</math> to <math>u_d</math>.
* 7 Jan 08: first post (Ch 1)