koichi

Documents

Please print out the pdf files and bring them to the class.

• Textbook: Feedback Systems: An Introduction for Scientists and Engineers
• web: http://www.cds.caltech.edu/~murray/amwiki/index.php/Version_2.11b
• tool: Matlab, Octave

2015

• June 3: Nonlinear modeling l00_2015.pdf
  • sample matlab code phaseplot2.m, func_d.m
• June 10: Nonlinear systems l1_2015.pdf
• June 17: Linearization, Phase portrait l2_2015.pdf
• June 24: Positive Definite Function, Lyapnov stability l3_2015.pdf
• July 1: Lyapnov stability and LTI systems (updated July 8) l4_2015.pdf
  • sample matlab code pend_pp.m, pend_ppl.m
• July 8: Lyapnov stability and Feedback linearization;
• July 15: Robot control l5_2015.pdf

2011

• June 29: Nonlinear systems (including exercises)l1.pdf
• July 6: Phase portrait (including exercises)l2.pdf
• July 13: Lyapunov stabilityl3.pdf
• July 20: Global stability, Backstepping (including exercises)l4.pdf
• August 3: Robot Controll5.pdf

2009

• June 17: Nonlinear Systems
• June 24: Phase portrait, Exercises (Exercises updated: 23, June)
• July 1: Lyapunov Stability
• July 8: Lyapunov Stability (global, LTI), Exercises, Feedback Control
• July 15: Robot Control