# Difference between revisions of "CDS 110b: Two Degree of Freedom Control Design"

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* {{cds110b-wi07 pdfs|L6-2_flatness.pdf|Notes on differential flatness}} | * {{cds110b-wi07 pdfs|L6-2_flatness.pdf|Notes on differential flatness}} | ||

* Partial [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/12Feb07.mp3 MP3] of Monday lecture, 12 Feb 2007 | * Partial [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/12Feb07.mp3 MP3] of Monday lecture, 12 Feb 2007 | ||

+ | * [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/14Feb07.mp3 MP3] of Wednesday lecture, 14 Feb 2007 | ||

* {{cds110b-wi07 pdfs|hw6.pdf|Homework 6}} (due 22 Feb @ 5 pm) | * {{cds110b-wi07 pdfs|hw6.pdf|Homework 6}} (due 22 Feb @ 5 pm) | ||

** {{cds110b-wi07 pdfs|normsteer.m|normsteer.m}} - Normalized model for steering control system | ** {{cds110b-wi07 pdfs|normsteer.m|normsteer.m}} - Normalized model for steering control system |

## Revision as of 19:53, 21 February 2007

WARNING: This page is for a previous year.See current course homepage to find most recent page available. |

CDS 110b | Schedule | Project | FAQ | Reading |

In this set of lectures we describe the problem of trajectory generation and tracking. We use differential flatness to generate feasible trajectories for the system, which are then tracked by a local (gain-scheduled) controller.

## Course Materials

- Notes on trajectory tracking
- Notes on differential flatness
- Partial MP3 of Monday lecture, 12 Feb 2007
- MP3 of Wednesday lecture, 14 Feb 2007
- Homework 6 (due 22 Feb @ 5 pm)
- normsteer.m - Normalized model for steering control system

## References and Further Reading

- K. J. Åström and R. M. Murray,, Preprint, 2006.. Section 7.5
- Real Time Trajectory Generation for Differentially Flat Systems, M. J. van Nieuwstadt and R. M. Murray, Int'l. J. Robust & Nonlinear Control 8:(11) 995-1020, 1998.