This repository contains the code and models I developed during my Modern Control Systems course at ITMO University.
The cource was devided into 3 parts which are:
- Adaptive and Robust control: in this part, 4 types of controllers were implemented which are:
- Adaptive controller
- Robust controller (with high gain feedback)
- Adaptive controller with robust modification (Adaptive-Robust controller)
- Output feedback adaptive control using the augmented error approach
- Optimal control: in this part, an LQR controller was implemented to optimize a specific objective.
- Trajectory control: in this part, three algorithms for stabilizing the motion of a robot(dynamic system) on a specific path (2D and 3D) were implemented.
All lab works were implemented using MATLAB/Simulink and the reports for each lab are included in the respective directories.