Lectures
Detailed schedule
The detailed schedule of topics is as below but the table may be modified depending on how topics get covered as the semester progresses. The scribe notes are only available for the days when someone volunteers to scribe for extra credit (see Scribing).
NetIDs are displayed next to lectures for which someone has signed up to scribe (updated bi-weekly).
| Day/date | Topic | Scribe notes |
|---|---|---|
| 08/26, T | Logistics, overview, recap/review & intro to state-space | Note 01, Recap |
| 08/28, R | Lin. Alg. Review (LAR): intro: axioms, basis, (sub)-spaces | Note 02, Recap |
| 09/02, T | LAR1: operators, basis change, spectrum, Jordan form | Note 03, Recap |
| 09/04, R | LAR1: Cayley-Hamilton, LTI solns, matrix exponentials | Note 04, Recap |
| 09/09, T | BCH formula, change of variables, variation of constants | |
| 09/11, R | LTV case, STM matrix & properties, LAR2: Inner products & norms | |
| 09/16, T | Stability, Lyapunov definitions, examples, LTI systems | |
| 09/18, R | No lecture – Allerton Conference | |
| 09/23, T | Lyapunov functions, equation and methods for LTV/LTI, | |
| 09/25, R | Linearization, transition to controllability, stabilizability | |
| 09/30, T | Controllability tests, modes and subspaces | |
| 10/02, R | Midterm 1 | (covers until 9/25 inclusive) |
| 10/07, R | Observability/detectability, duality, Kalman decomps. | |
| 10/09, T | Observability tests, intro to realization theory | |
| 10/14, T | Minimal realizations, intro to feedback control problem | |
| 10/16, R | Stabilization problem, observer design & detectability | |
| 10/21, T | Static & dynamic o/p feedback & Luenberger observers | |
| 10/23, R | Tracking & disturbance rejection, internal model principle | |
| 10/28, T | Dual spaces, covectors, functionals, and canonical mapping | |
| 10/30, R | Adjoints, pseudo-inverses and minimum norm solns | |
| 11/04, T | Exam review by Erkan | |
| 11/06, R | Midterm 2 | (covers until 10/28 inclusive) |
| 11/11, T | Calculus of variations, Euler-Lagrange eqns, Brachistochrone | 300 years |
| 11/13, R | Optimal control formulation, Hamiltonian & canonical eqns | |
| 11/18, T | Dynamic programming, value function & HJB equation | |
| 11/20, R | LQR problem, Riccati equation & boundary conditions | |
| 12/02, T | Intro to minimum principle & Lagrange multiplier, LQR again | |
| 12/04, R | Infinite horizon LQR problem, intro to time optimal control | |
| 12/09, T | Bang bang control, nonlinear examples & preview upper courses | |
| 12/16 | Final Exam |