Lectures related to Nonlinear control

Feedforward Control

Explores feedforward control to achieve zero steady-state error and discusses the advantages in handling complex systems.

Stability of ODE

Explores the stability of Ordinary Differential Equations, focusing on solution dependence, critical data, linearization, and control of nonlinear systems.

State-Space Representation: Basics & Transformations

Covers the basics of state-space representation and explores transformations to different forms.

Motor Intelligence for Soft Robots

Explores the control challenge in soft robotic systems and the use of simplified models with nonlinear control theory for dynamic task execution.

Linear Control Systems

Covers the reduction of complex systems to linear situations and controllability conditions.

Circle Criterion: Stability and Nonlinearity

Covers the concept of passivity in linear systems and the circle criterion for absolute stability.

Introduction to Nonlinear Systems Control

Covers the analysis and control of nonlinear systems, including methods like phase plan and passivity.

State-Space Representation: Controllability and Observability

Explores state-space representation, controllability, observability, and regulator calculation using the Ackermann method.

Non-linear Control: Stability Analysis

Explores linearization, state representations, and stability analysis using Lyapunov theory and zero dynamics.

Sensors: Definitions and Applications

Explores the fundamental concepts of sensors, including position sensors, transfer functions, and typical accuracies in robotics.

Model predictive control with multi-region MFDs

Covers model predictive control for multi-region Macroscopic Fundamental Diagrams in traffic flow modeling and its application in handling non-linear control problems.

Discrete Systems Analysis: Z-Transform and System Properties

Explores Z-transform, system properties, and analysis of discrete systems, focusing on stability and transfer functions.

Proportional Integral Control: Theory and Application

Explains Proportional Integral Control theory and the Final Value Theorem application.

System Identification and Stability

Explores system identification, stability criteria, and challenges in stabilizing cameras on moving platforms.

Offset-free tracking: Necessary conditions and Feedforward compensation

Explores offset-free tracking in multivariable control, covering necessary conditions and feedforward compensation to reject disturbances and achieve constant setpoints.

Untitled

Acquiring Data for Learning: Modern Approaches and Challenges

Explores modern approaches and challenges in acquiring data for learning optimal controllers through demonstrations and data-driven methods.

State-Space Control Design

Covers state-space control design, including state-feedback, observer, and linearization.

Designing Proportional Regulators for Error-Free Ramp Inputs

Focuses on designing proportional regulators for error-free ramp inputs and introduces lead and lag compensators.

Effects of Poles and Zeros on System Response

Explores the effects of poles and zeros on system response and the importance of system modeling and control strategies.