Difference between revisions of "Supplement: Optimization-Based Control"

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===== News ([[OBC: Archived news|archive]]) =====
 
===== News ([[OBC: Archived news|archive]]) =====
 +
* 12 Mar 2023: new version (2.3h) is now complete and posted
 
* Jan-Feb 2023: updated versions of Chapters 2-7 (version 2.3x) posted roughly every week
 
* Jan-Feb 2023: updated versions of Chapters 2-7 (version 2.3x) posted roughly every week
 
* 31 Dec 2022: posted Jupyter notebooks for Chapter 1 (intro to python-control)
 
* 31 Dec 2022: posted Jupyter notebooks for Chapter 1 (intro to python-control)
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* {{OBC pdf|Contents and Preface|obc-frontmatter|03Jan2023}}
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* {{OBC pdf|Contents and Preface|obc-frontmatter|20Feb2023}}
 
* {{OBC pdf|Ch 1 - Introduction|obc-intro|03Jan2023}}
 
* {{OBC pdf|Ch 1 - Introduction|obc-intro|03Jan2023}}
 
** System and Control Design
 
** System and Control Design
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** Random Processes in the Frequency Domain
 
** Random Processes in the Frequency Domain
 
** Implementation in Python: {{OBC notebook|stochastic-linsys}}
 
** Implementation in Python: {{OBC notebook|stochastic-linsys}}
* {{OBC pdf|Ch 6 - Kalman Filtering|obc-kalman|12Feb2023}}
+
* {{OBC pdf|Ch 6 - Kalman Filtering|obc-kalman|20Feb2023}}
 
** Linear Quadratic Estimators
 
** Linear Quadratic Estimators
 
** Extensions of the Kalman Filter
 
** Extensions of the Kalman Filter
 
** LQG Control
 
** LQG Control
** Implementation in Pytyhon
+
** Implementation in Python: {{OBC notebook|kalman-pvtol}}, {{OBC python|pvtol.py}}
 
** Application to a Vectored Thrust Aircraft
 
** Application to a Vectored Thrust Aircraft
* {{OBC pdf|Ch 7 - Sensor Fusion|obc-fusion|23Feb2022}}
+
* {{OBC pdf|Ch 7 - Sensor Fusion|obc-fusion|12Mar2023}}
 
** Discrete-Time Stochastic Systems
 
** Discrete-Time Stochastic Systems
 
** Kalman Filters in Discrete Time
 
** Kalman Filters in Discrete Time
 
** Predictor-Corrector Form
 
** Predictor-Corrector Form
 
** Sensor Fusion
 
** Sensor Fusion
** Information Filters
+
** Implementation in Python: {{OBC notebook|fusion-kincar}}, {{OBC python|kincar.py}}, {{OBC notebook|fusion-mhe-pvtol}}, {{OBC python|pvtol.py}}
 
** Additional Topics
 
** Additional Topics
* {{OBC pdf|Bibliography and Index|obc-backmatter|03Jan2023}}
+
* {{OBC pdf|Bibliography and Index|obc-backmatter|20Feb2023}}
 
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Latest revision as of 23:47, 12 March 2023

Quick Links

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. Our focus is on the use of optimization-based methods for control, including optimal control theory, receding horizon control, and Kalman filtering. Each chapter is intended to be a standalone reference for advanced topics that are introduced in Feedback Systems.

Note: Permission is granted to download and print a copy for individual use, but this material may not be reproduced, in whole or in part, without written consent from the author.

News (archive)
  • 12 Mar 2023: new version (2.3h) is now complete and posted
  • Jan-Feb 2023: updated versions of Chapters 2-7 (version 2.3x) posted roughly every week
  • 31 Dec 2022: posted Jupyter notebooks for Chapter 1 (intro to python-control)
  • 29 Dec 2022: added new Chapter 1 (introduction) and starting to post updates for v2.3

Contents