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

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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''. | 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| | + | * Chapter 1: {{am05pdf|obc08-trajgen|25Jan08|Trajectory Generation and Tracking}} |

− | * Chapter 2: {{am05pdf|obc08-optimal| | + | * Chapter 2: {{am05pdf|obc08-optimal|25Jan08|Optimal Control}} |

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

+ | * 25 Jan 08: fixed up some bad references; expanded the LQR design example (pvtol); added example of abnormal extremal | ||

* 23 Jan 08: updated Ch 2; more details on LQR | * 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 04:55, 27 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, 25Jan08)
- Chapter 2: Optimal Control (pdf, 25Jan08)

### Summary of Changes

- 25 Jan 08: fixed up some bad references; expanded the LQR design example (pvtol); added example of abnormal extremal
- 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)