### Course Information

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

**Time:**Monday 14:00-15:50 / Wednesday 10:20-12:10 (even week)

**Location:**荔园 2 栋 201

**TAs:**Yinghan Sun, Daifeng Li, Bowhen Shen

**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 0: Course Information**[PDF]**Lecture 1: Linear Algebra Review**[PDF] [P3-update] [P1P2-notes] [P3-notes]**Lecture 2: State Space Models**[PDF] [Notes]**Lecture 3: Least Squares and Basic System Identification**[PDF] [Notes]**Lecture 4: Stability, Controllability, and Observability**[PDF] [Notes]**Lecture 5: State-Feedback and Output-Feedback Control**[PDF] [Notes]**Lecture 6: Control Design and Testing in Drake with Python**[PDF] [Notes]**Lecture 7.1: Probability Review**[PDF] [Notes]**Lecture 7.2: Kalman Filter**[PDF] [Notes]**Lecture 7.3: Extended Kalman Filter**[PDF] [Notes]**Lecture 8: Linear Quadratic Regulator**[PDF] [Notes]

### Tutorials

**Tutorial 1: Python, Numpy and Matplotlib**[file]**Tutorial 2: Read Files and Animation**[file]**Tutorial 3: Solving Nonlinear Least Square Problems**[file]**Tutorial 4: Install Drake on Your Computer**[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.**