+++
title = "Control Bootcamp"
author = ["Dehaeze Thomas"]
draft = false
+++
Tags
:
https://www.youtube.com/playlist?list=PLMrJAkhIeNNR20Mz-VpzgfQs5zrYi085m
Overview
Linear Systems
Stability and Eigenvalues
Linearizing Around a Fixed Point
Controllability
Controllability, Reachability, and Eigenvalue Placement
Controllability and the Discrete-Time Impulse Response
Degrees of Controllability and Gramians
Controllability and the PBH Test
Cayley-Hamilton Theorem
Reachability and Controllability with Cayley-Hamilton
Inverted Pendulum on a Cart
Eigenvalue Placement for the Inverted Pendulum on a Cart
Linear Quadratic Regulator (LQR) Control for the Inverted Pendulum on a Cart
Motivation for Full-State Estimation
Observability
Full-State Estimation
Kalman Filter
Observability Example in Matlab
Observability Example in Matlab (Part 2)
Kalman Filter Example in Matlab
Linear Quadratic Gaussian (LQG)
LQG Example in Matlab
Introduction to Robust Control
Three Equivalent Representations of Linear Systems
Example Frequency Response (Bode Plot) for Spring-Mass-Damper
Laplace Transforms and the Transfer Function
Benefits of Feedback on Cruise Control Example
Benefits of Feedback on Cruise Control Example (Part 2)
Cruise Control Example with Proportional-Integral (PI) control
Sensitivity and Complementary Sensitivity
Sensitivity and Complementary Sensitivity (Part 2)
Loop shaping
Loop Shaping Example for Cruise Control
Sensitivity and Robustness
Limitations on Robustness
Cautionary Tale About Inverting the Plant Dynamics
Control systems with non-minimum phase dynamics
Bibliography
