Difference between revisions of "Supplement: OptimizationBased Control"
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+  {{supheaderOptimizationBased Control}}  
+  <font size="+1">Richard M. Murray (Caltech)</font>  
+  
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 optimizationbased 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 optimizationbased 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''.  
−  +  '''Note:''' These notes are in draft form and may contain errors. Permission is granted to download and print a copy for individual use, but this material may not be reproduced, in whole or in part, without written consent from the author.  
−  +  
−  +  {{OBC quick links}}  
−  * Chapter 4  +  ===== News ([[OBC:Archived newsarchive]]) ===== 
−  *  +  * 15 Feb 10: updated version of Chapter 4 (stochastic systems) is posted; multiple fixes + some new material 
−  *  +  * 3 Jan 10: posted updated version of Chapters 1 and 2 (mainly small fixes) + working errata link 
+  * 22 Dec 09: updated versions of all chapters posted; working through small fixes over the next few weeks  
+  * 22 Dec 09: updated supplement main page to a new format  
+  * 4 Jan 09: Version 2.0b posted  fixes and error corrections for chapters 14  
+  <p>  
−  ===  +  === Contents === 
−  +  { width=100% border=1  
−  *  +   valign=top 
−  *  +   width=50%  
−  *  +  * {{OBC pdfContents and Prefaceobcfrontmatter03Jan10}} 
−  *  +  * {{OBC pdfCh 1  Trajectory Generation and Trackingobctrajgen03Jan10}} 
−  *  +  ** Two Degree of Freedom Design 
−  *  +  ** Trajectory Tracking and Gain Scheduling 
−  *  +  ** Trajectory Generation and Differential Flatness 
−  *  +  * {{OBC pdfCh 2  Optimal Controlobcoptimal27Oct18}} 
−  *  +  ** Review: Optimization 
+  ** Optimal Control of Systems  
+  ** Examples  
+  ** Linear Quadratic Regulators  
+  ** Choosing LQR Weights  
+  ** Advanced Topics  
+  * {{OBC pdfCh 3  Receding Horizon Controlobcrhc22Dec09}}  
+  ** OptimizationBased Control  
+  ** Receding Horizon Control with CLF Terminal Cost  
+  ** Receding Horizon Control Using Differential Flatness  
+  ** Implementation on the Caltech Ducted Fan  
+   width=50%   
+  * {{OBC pdfCh 4  Stochastic Systemsobcstochastic15Feb10}}  
+  ** Review of Random Variables  
+  ** Introduction to Random Processes  
+  ** ContinuousTime, VectorValued Random Processes  
+  ** Linear Stochastic Systems  
+  ** Random Processes in the Frequency Domain  
+  * {{OBC pdfCh 5  Kalman Filteringobckalman22Dec09}}  
+  ** Linear Quadratic Estimators  
+  ** Extensions of the Kalman Filter  
+  ** LQG Control  
+  ** Application to a Vectored Thrust Aircraft  
+  * {{OBC pdfCh 6  Sensor Fusionobcfusion22Dec09}}  
+  ** DiscreteTime Stochastic Systems  
+  ** Kalman Filters in Discrete Time  
+  ** PredictorCorrector Form  
+  ** Sensor Fusion  
+  ** Information Filters  
+  ** Additional Topics  
+  * {{OBC pdfBibliography and Indexobcbackmatter15Feb10}}  
+  } 
Latest revision as of 19:43, 27 October 2018
Richard M. Murray (Caltech)
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 optimizationbased 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.
Note: These notes are in draft form and may contain errors. Permission is granted to download and print a copy for individual use, but this material may not be reproduced, in whole or in part, without written consent from the author.

News (archive)
 15 Feb 10: updated version of Chapter 4 (stochastic systems) is posted; multiple fixes + some new material
 3 Jan 10: posted updated version of Chapters 1 and 2 (mainly small fixes) + working errata link
 22 Dec 09: updated versions of all chapters posted; working through small fixes over the next few weeks
 22 Dec 09: updated supplement main page to a new format
 4 Jan 09: Version 2.0b posted  fixes and error corrections for chapters 14
Contents

