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Introduction to Dynamical Systems (HTML, PDF).
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ODEs: definitions, numerical schemes, visualization (30 min).
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Well-posedness of IVPs (30 min).
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Asymptotic behavior (30 min)
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Linear-Time Invariant Systems (HTML, PDF)
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Linearization, state-space model (30 min)
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Solutions of LTI systems, asymptotic stability (30 min)
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I/O Behavior, Laplace domain, I/O stability (30 min)
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Controllability (1h)
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Controller design: pole assignement & optimal control (1h)
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Observability (1h)
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Observer design: pole assignment & optimal filtering (1h)
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Application to mobile robotics (3h)
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Lagrangian mechanics
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Kinematic models of mobile robots
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Control of mobile robots
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The course contents are also available as Jupyter notebooks. Open, edit and run these notebooks either
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βοΈ in the cloud: open project with Binder or
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π» on your computer: follow the instructions.
- Use this template project as a starting point.
Example notebook: double pendulum
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.