/Dynamics-and-Control

Dynamics, MPC, LQR, etc. One repo to rule them all.

Dynamics and Control

MPC, LQR, System Identification, etc.

This is the repo of notes recording my learning trajectory of Dynamics and Control.

I attach all the material I find useful for my thinking. Though some of those are in Chinese.

Topics Included

  • Euler Lagrange Dynamics
  • Newton Euler Dynamics
  • Forward Dynamics
  • (LQR) Linear Quadratic Regulator
  • (iLQR) iterative Linear Quadratic Regulator

Topics not yet ready

  • (MPC) Model Predictive Control
  • System Identification
  • Impedance Control
  • Admittance Control
  • QP Controller
  • (PFL) Partial Feedback Linearization / Input-Output Linearization

TODO

  • FD notes