### Course Information

**Instructor:**Wei Zhang (zhangw3@sustech.edu.cn)

**Time:**Wednesday 16:20-18:10 / Friday 10:20-12:10 (even week)

**Location:**三教 210

**TAs:**Haoxiang Luo, Xiaoxiang Liu, Yongjian Su

**Recordings:**https://space.bilibili.com/474380277/channel/seriesdetail?sid=291615

### Description

This course will introduce the students to the fundamental concepts and methods in modern control and estimation theory. Topics include state-space modeling of dynamical systems, least-square estimation and system identification, state-feedback and output-feedback controller design, observer design, linear quadratic regulators, and Kalman filter. The course will also connect these control and estimation methods to applications in robotics, mechanical, electrical, and aerospace systems.

### Lecture Notes

**Lecture 1: Linear Algebra Review**[PDF]Linear independence, Vector space, Solution space of Ax = b, Inner product, Simple geometric sets, Quadratic sets **Lecture 2: State Space Models**[PDF]**Lecture 3: Least Squares and Basic System Identification**[PDF]**Lecture 4: Stability, Controllability, and Observability**[PDF]**Lecture 5: State-Feedback and Output-Feedback Control**[PDF]**Lecture 6: Control Design and Testing in Drake with Python**[PDF]

### Tutorials

**Tutorial 1: Python, Numpy and Matplotlib**[file]**Tutorial 2: Install Linux on Windows with WSL**[PDF]**Tutorial 3: Install Drake on Your Computer**[PDF]

### Homework and Projects

**Homework 1**[PDF] [template]**Homework 2**[PDF]**Homework 3**[PDF] [supplementary]**Project 1**[PDF] [data]**Homework 4**[PDF]

#### References:

**"Linear Algebra", Gilbert Strang, Massachusetts Institute Technology.**
https://ocw.mit.edu/courses/mathematics/18-06-linear-algebra-spring-2010/
**Lecture notes, and papers distributed in class.**