A New Approach to Linear Filtering and Prediction Problems

A transcription of R.E. Kalman's seminal paper. Transcribed by John Lukesh, 20 January 2002

The classical filtering and prediction problem is re-examined using the Bode- Shannon...

Introducing Feedback Control to Middle and High School STEM Students, Part 2...

This paper was presented at the 2019 IFAC Advances on Control Education Conference (IFAC-ACE), Philadelphia, PA, USA, July 7-9, 2019, and is in the conference proceedings. This paper aims at...

Introduction to Noise Filtering

Introduction to filtering - moving average, first-order, anti-aliasing, set point softening

Kalman Filter Virtual Lab

The Kalman Filter virtual laboratory contains interactive exercises that let you study linear and extended Kalman filter design for state estimation of a simple pendulum system. The virtual...

Introducing Feedback Control to Middle and High School STEM Students, Part 1...

This paper was presented at the 2019 IFAC Advances on Control Education Conference (IFAC-ACE), Philadelphia, PA, USA, July 7-9, 2019, and is in the conference proceedings. This paper aims at...

Discrete Fourier Transform

The discrete Fourier transform, or DFT, is the primary tool of digital signal processing. The foundation of the product is the fast Fourier transform (FFT), a method for computing the DFT...

TinyEKF: Lightweight C/C++ Extended Kalman Filter with Python for prototypin...

TinyEKF is a simple C/C++ implementation of the Extended Kalman Filter that is general enough to use on different projects. In order to make it practical for running on Arduino, STM32, and...

Linear Algebra Review

This short course is a quick review of linear algebra, intended for students who have already taken a previous course in linear algebra or have some experience with vectors and matrices. The...

Interactive Tool for PID understanding

The module PID Basics is designed to explore the properties of a simple feedback loop by showing the time and frequency responses of a closed-loop system and demonstrating how these...

Kalman Filter Design

This example shows how to perform Kalman filtering. Both a steady state filter and a time varying filter are designed and simulated.

ITCLI: An Interactive Tool for Closed-Loop Identification

The Interactive Tool for Closed-Loop Identification (ITCLI) is an interactive software tool for understanding SISO closed-loop identification using prediction-error techniques. The tool...

Advances in feedforward control for measurable disturbances

The efficient compensation of load disturbances is one of the most important tasks in any control system. Most industrial processes are affected by disturbances and only feedback is commonly...

Z-Transform - Practical Applications

Covering practical applications of the Z-transform used in digital signal processing, for example, stability analysis and frequency response of discrete-time systems. Theory, C code, and...

MATLAB Example: Solve Constrained Nonlinear Optimization, Problem-Based

This example shows how to find the minimum of a nonlinear objective function with a nonlinear constraint by using the problem-based approach. 

Twitter Thread: Vibrational control of mechanical systems

This Twitter thread by @ahmedallibhoy walks through an explanation of controlling an inverted pendulum with an open-loop vibrational controller. 

i-pIDtune: An interactive tool for integrated system identification and PID ...

i-pIDtune is an interactive software tool that integrates system identification and PID controller design. The tool supports experimental design and execution under plant-friendly conditions...

Road Sign Detection using Transfer Learning on RetinaNet

This blog outlines a number of open-source resources for transfer learning that are worthy of exploring, ands show the result of using transfer learning on RetinaNet to develop a road sign...

MATLAB Function: ztrans

ztrans(f) finds the Z-Transform of f. By default, the independent variable is n and the transformation variable is z. If f does not contain n, ztrans uses symvar. 

Vibrational Control in Insect Flight

Abstract: It is generally accepted among biology and engineering communities that insects are unstable at hover. However, existing approaches that rely on direct averaging do not fully...

System Identification: Koopman with Control

This lecture provides an overview of the use of modern Koopman spectral theory for nonlinear control. In particular, we develop control in a coordinate system defined by eigenfunctions of...

Conventional and Adaptive Beamformers

This example illustrates how to apply digital beamforming to a narrowband signal received by an antenna array. Three beamforming algorithms are illustrated: the phase shift beamformer...

MATLAB Example: Fault Detection Using an Extended Kalman Filter

This example shows how to use an extended Kalman filter for fault detection. The example uses an extended Kalman filter for online estimation of the friction of a simple DC motor...

Increasing Angular Resolution with Virtual Arrays

This MATLAB example introduces how forming a virtual array in MIMO radars can help increase angular resolution. It shows how to simulate a coherent MIMO radar signal processing chain using...

ITCRI: An Interactive Software Tool for Control-Relevant Identification

The Interactive Tool for Control Relevant Identification (ITCRI) comprehensively captures the control-relevant identification process, from input design to closed-loop control, depicting...

Model predictive control python toolbox

do-mpc is a comprehensive open-source toolbox for robust model predictive control (MPC) and moving horizon estimation (MHE). do-mpc enables the efficient formulation and solution of control...