wootaik/control-engineering-with-python

Control Engineering with Python

Notebooks

Two options:

• 

• Execute the project notebooks locally: instructions

Program

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

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

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

   • Well-posedness of IVPs (30 min).

   • Asymptotic behavior (30 min)

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

   • 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, notebook)

   • Controllability (1h)

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

4. Observers (HTML, PDF, notebook)

   • 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

Project

• Problem statement (notebook): view in github or download.

Extra resources

Animation of dynamical systems

Example notebook: double pendulum

• view in GitHub,

• open in binder.

Free External Resources

• Eduardo Sontag - Mathematical Control Theory

• The Zodiac - Theory of Robot Control

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