Controls Primer Homepage

LPE Reading Group: Controls Primer

This reading group was held in Fall of 2001 at Caltech and Cornell. The purpose of the reading group was to provide a concise introduction to Control for non-specialicists working on the Caltech/Coloradro Software Enabled Control (SEC) project. This project is focused on optimization-based control, and so the topics for the short course were chosen to provide the necessary background to understand the work that we are doing on model predictive control of single and multi-vehicle systems.

Goals

Provide an overview of basic feedback control concepts and tools for non-experts
Provide a rudimentary knowledge of Lypaunov-based control theory and optimization-based control theory, sufficient to allow subsequent self-paced learningof the tools and theory through additional reading

Syllabus

Lecture	Lecturer	Topic (click link for slides, notes)	Reading
1	Richard Murray	Overview of feedback control	CDS Panel Report, Chapter 2
2	Raff D'Andrea	Introduction to state space control and feedback	None
3	Lars Cremean	Lyapunov stability	MLS, Sec 5.4, Examples
4	Lars Cremean	Control Lyapunov functions	KKK, 25-39
5	Richard Murray	Optimization	Lecture notes
6	Richard Murray	Optimal Control (theory)	Lewis and Syrmos
7	Bill Dunbar	Optimal Control (algorithms)
8	Bill Dunbar	Model Predictive Control, I	Dunbar candidacy report
9	Bill Dunbar	Model Predictive Control, II
10	Bill Dunbar	Optimization-Based Control, I	SEC book chapter
11	Bill Dunbar	Optimization-Based Control, II	Dunbar candidacy report

This page maintained by Richard Murray.
Last updated: 08-Jul-2003