# Difference between revisions of "Supplement: Optimization-Based Control"

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=== Summary of Changes === | === Summary of Changes === | ||

+ | * 23 Jan 08: updated Ch 2; more details on LQR | ||

* 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>. | * 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) | * 7 Jan 08: first post (Ch 1) |

## Revision as of 00:40, 25 January 2008

These notes serve as a supplement to *Feedback Systems* by Åström 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: Trajectory Generation and Tracking (pdf, 14Jan08)
- Chapter 2: Optimal Control (pdf, 23Jan08)

### Summary of Changes

- 23 Jan 08: updated Ch 2; more details on LQR
- 14 Jan 08: updated Ch 1 and posted Ch 2. Fixed a couple of small bugs in Ch 1. Changed to .
- 7 Jan 08: first post (Ch 1)