Stanford CS234: Reinforcement Learning | Winter 2019 | Lecture 10 - Policy G...

Professor Emma Brunskill
Assistant Professor, Computer Science
Stanford AI for Human Impact Lab
Stanford Artificial Intelligence Lab
Statistical Machine Learning Group

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Lecture 17: Introduction to Compensators/Controllers

This video introduces compensators or controllers. The 3 basic control actions - proportional, derivative and integral - have been discussed. Also discussed ... See More

The Taylor Series

In this video we discuss the Taylor Series (and the closely related Maclaurin Series). These are two specific types of Power Series that allow you to approx...

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Understanding PID Controller

This blog post begins by walking through the basics and the theoretical part of the PID controllers.  The controller is then tested, verified, and analyzed using MATLAB.

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Stability and Eigenvalues [Control Bootcamp]

Here we discuss the stability of a linear system (in continuous-time or discrete-time) in terms of eigenvalues. Later, we will actively modify these eigenvalues, and hence the dynamics...

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Koopman Spectral Analysis (Representations)

In this video, we explore how to obtain finite-dimensional representations of the Koopman operator from data, using regression.

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TikZ source Code: Interconnected MIMO Subsystems

TikZ source Code: Interconnected MIMO Subsystems with different input and output dimensions

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Control Bootcamp: Sensitivity and Robustness

Here we show that peaks in the sensitivity function result in a lack of robustness.

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Degrees of Controllability and Gramians [Control Bootcamp]

This lecture discusses degrees of controllability using the controllability Gramian and the singular value decomposition of the controllability matrix.

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Randomized SVD Code [Python]

This video describes the randomized singular value decomposition (rSVD) (Python code).

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Data-Driven Control: Change of Variables in Control Systems

In this lecture, we discuss how linear control systems transform under a change of coordinates in the state variable. This will be useful to derive balancing transformations that identify...

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SVD: Eigenfaces 4 [Matlab]

This video describes how the singular value decomposition (SVD) can be used to efficiently represent human faces, in the so-called "eigenfaces" (Matlab code, part 4).

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Velocity & Acceleration in Non-Inertial Reference Frames (Coriolis &...

In this video we derive a mathematical description of velocity and acceleration in non-inertial reference frame. We examine the effect of fictitious forces ...

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Simple Vector Mechanics: Inner Product, Scalar/Vector Projection, and Cross ...

In this video we discuss several simple vector operations such as: 1. Computing the magnitude of a vector 2. The inner/dot product 3. The scalar and vector projection 4. The cross product

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Machine Learning Control: Genetic Programming

This lecture explores the use of genetic programming to simultaneously optimize the structure and parameters of an effective control law.

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Gimbal Lock in reference to the Apollo missions

A gimbal is a pivoted support that permits rotation of an object about an axis. For this reason, a set of three axes gimbals are used in spacecrafts to help with orientation attitude control...

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Understanding Sensor Fusion and Tracking, Part 2: Fusing a Mag, Accel, and G...

This video describes how we can use a magnetometer, accelerometer, and a gyro to estimate an object’s orientation. The goal is to show how these sensors contribute to the solution, and to...

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Laplace domain – tutorial 4: Laplace transform examples

In this video, we solve lots of examples to practice how to quickly find Laplace transform using the table of pairs & properties and five golden rules on ROC...

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Coriolis Effect Demonstration (with Drones)

We demonstrate how rotating reference frames give rise to the Coriolis effect and centrifugal acceleration. In this video, we approach this as a simple physics demonstration and examine...

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Fourier Series and Gibbs Phenomena [Matlab]

This video will describe how to compute the Fourier Series in Matlab and Gibbs Phenomena that appear for discontinuous functions.

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Understanding Model Predictive Control, Part 4: Adaptive, Gain-Scheduled and...

This video explains the type of MPC controller you can use based on your plant model, constraints, and cost function. An optimization problem with these properties is a convex one, and you...

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Internal Model Control Example Problem

I walk through how to design a feedback controller based on a given process transfer function, using Internal Model Control.

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Frequency domain – tutorial 4: Gibbs phenomenon

In this video, we quickly review the Gibbs phenomenon which involves two facts:1) Fourier sums overshoot at a jump discontinuity2) overshoot does not disapp...

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Motivation for Full-State Estimation [Control Bootcamp]

This video discusses the need for full-state estimation. In particular, if we want to use full-state feedback (e.g., LQR), but only have limited measurements of the system, it is necessary...

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Direct Synthesis Method Numerator Dynamics Problem

I walk through how to design a PID feedback controller when given a second order process with numerator dynamics, using the Direct Synthesis Method.

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