0. Introduction to Control Engineering (30 min) (HTML, PDF)

1. Introduction to Dynamical Systems (HTML, PDF).

   • ODEs: definitions, numerical schemes, visualization (30 min).

   • Well-posedness of IVPs (30 min).

   • Asymptotic behavior (30 min)

2. Linear-Time Invariant Systems (HTML, PDF)

   • Linearization, state-space model (30 min)

   • Solutions of LTI systems, asymptotic stability (30 min)

   • I/O Behavior, Laplace domain, I/O stability (30 min)

3. Controllers (HTML, PDF)

   • Controllability (1h)

   • Controller design: pole assignement & optimal control (1h)

4. Observers (HTML, PDF)

   • Observability (1h)

   • Observer design: pole assignment & optimal filtering (1h)

5. Application to mobile robotics (3h)

   • Lagrangian mechanics

   • Kinematic models of mobile robots

   • Control of mobile robots

The course contents are also available as Jupyter notebooks. Open, edit and run these notebooks either

• ☁️ in the cloud: open project with Binder or

• 💻 on your computer: follow the instructions.

• Use this template project as a starting point.

Example notebook: double pendulum

• view in GitHub,

• open in binder.

• 📖 Eduardo Sontag – Mathematical Control Theory

• 📖 Vladimír Kučera – Riccati Equations and their Solution

• 📖 The Zodiac – Theory of Robot Control

This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.