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

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* Chapter 1: {{am05pdf|obc08-trajgen|26Jan08|Trajectory Generation and Tracking}}
 
* Chapter 1: {{am05pdf|obc08-trajgen|26Jan08|Trajectory Generation and Tracking}}
 
* Chapter 2: {{am05pdf|obc08-optimal|26Jan08|Optimal Control}}
 
* Chapter 2: {{am05pdf|obc08-optimal|26Jan08|Optimal Control}}
 +
* Chapter 3: {{am05pdf|obc08-rhc|30Jan08|Receding Horizon Control}}
  
 
=== Summary of Changes ===
 
=== Summary of Changes ===
 +
* 30 Jan 08: Version 1.4a posted; new chapter on receding horizon control
 
* 25 Jan 08: fixed up some bad references; expanded the LQR design example (pvtol); added example of abnormal extremal
 
* 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 19:02, 30 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.

Summary of Changes

  • 30 Jan 08: Version 1.4a posted; new chapter on receding horizon control
  • 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)