Introduction

How a robot turns "where I want to be" into "what voltage/torque to send to the motors, right now, correctly, every millisecond." Covers classical and modern control.

What's covered (subtopics to add)

• Classical control basics (open-loop vs closed-loop, transfer functions): https://drive.google.com/file/d/14D6Yr4m3n5vGUJR6BTXpbubLHtevKUiF/view?usp=sharing
• PID control:https://colab.research.google.com/drive/1d_4wFjOr2zwhEEo2bHRZcAnPzOYXtVMp?usp=sharing
• State-space representation & modern control:
• Kalman filtering & state estimation:https://drive.google.com/file/d/19FkX436m1dvM0sdVxV5cIyB7rzh1cFme/view?usp=sharing
• Stability analysis

Resources

Books

• State estimation and Filtering: Estimation with Applications to Tracking and Navigation: Theory, Algorithms and Software, Yakov Bar-Shalom

Papers

• Easiest Intro to Kalman filtering: https://web.mit.edu/kirtley/kirtley/binlustuff/literature/control/Kalman filter.pdf

Repos

Courses / Videos

• Classical Control Systems:https://youtube.com/playlist?list=PLUMWjy5jgHK1NC52DXXrriwihVrYZKqjk&si=SFbaFe2i8h5SmEY_ Modern Control: https://www.youtube.com/playlist?list=PLMrJAkhIeNNR20Mz-VpzgfQs5zrYi085m

Contributed by: | Reviewed by: | Last updated: