Richard M. Murray
These notes serve as a supplement to Feedback Systems by Åström and Murray and expand on some of the topics introduced there. The focus in on more advanced presentations of the material on linear systems, providing a more theorybased coverage of the topics. Each chapter is intended to augment the introductory topics that are introduced in Feedback Systems.
Note: These notes are in draft form and may contain errors. Permission is granted to use and modify these notes for noncommercial purposes provided that appropriate credit is given to the original author and that all modifications contain these same terms (CCBYNCSA).
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Contents

 Ch 4  Optimal Control (PDF, 30 Oct 2020)
 Review: Optimization
 Optimal Control of Systems
 Examples
 Linear Quadratic Regulators
 Choosing LQR Weights
 Advanced Topics
 FurtherReading
 Ch 5  State Estimation (PDF, 30 Oct 2020)
 Concepts and Definitions
 Observability for Linear State Space Systems
 Combining Estimation and Control
 Exercises
 Bibliography and Index (PDF, 30 Oct 2020)
