Lectures in course ME-321: Control systems + TP

Explores the addition of a reference input to controllers and the design of autonomous and tracking-error estimators.

Covers integral control and offset-free controller design with poles placement and estimator dynamics.

Introduces optimal control, focusing on defining desired behaviors and calculating the best control action, with a specific emphasis on LQR.

Optimal Control: Linear Quadratic Regulation

Explores linear quadratic regulation for optimal control of linear systems, focusing on minimizing a quadratic cost function to move the system state towards zero.

Linear Quadratic Regulator Theory

Covers the Linear Quadratic Regulator theory for optimal control of multivariable systems.

Linear Quadratic Regulator Example

Covers an example of computing a linear controller to minimize closed-loop performance.