Introduction to Full State Feedback Control

In this video we introduce the concept of a full state feedback controller. We discuss how to use this system to place the eigenvalues of the closed loop sys...

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Introductory course on aerial robotics, University of Pennsylvania

This course exposes you to the mechanics, design, control, and planning of robotic flight in 3 dimensional environments for micro-aerial vehicles, with an emphasis on quadrotors.

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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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Final Value Theorem

In this video we discuss the Final Value Theorem. Given a signal in the Laplace domain, this allows us to predict the steady state value of the signal in th...

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Peter Ponders PID - Integrated Time Absolute Error - 4 Pole example

This video shows how to calculate the coefficients for a 4 pole ITAE and how to use the 4 pole ITAE to calculate closed loop controller gains.

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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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Heat Transfer Demonstration

In this video we demonstrate heat transfer through a metal bar. By heating one side of the bar we can impose a non-uniform temperature distribution across t...

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Peter Ponders PID - FeedForwards - Basics - What they do

The video shows the importance of using feed forwards to reduce error while following a motion profile. See More

Time domain - tutorial 5: signal properties

In this video, we learn about some special signals which are symmetric around the y-axis (even) or around the origin (odd) . Then we talk about periodic sign...

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TikZ source Code: RC Lowpass

TikZ source code for an RC Lowpass filter.

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TikZ source Code: Feedback passivity index

TikZ source Code: Feedback passivity index

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Fourier Series [Python]

This video will describe how to compute the Fourier Series in Python.

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TikZ source Code: Lyapunov Lure

TikZ source Code: Lyapunov Lure

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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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Laplace Transforms to Derive Transfer Functions

Once we have a state space model, we will take a Laplace Transform to derive the transfer function to determine the response of an output relative to an inpu...

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Laplace domain – tutorial 6: Transfer function & system properties

In this video, we learn about transfer function and system properties. The following materials are covered:1) what is a transfer function?2) relation between...

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Randomized SVD Code [Matlab]

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

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Direct Synthesis for PID Controller Design

What tuning parameters should you choose for your controller? The Direct Synthesis Model is one method control engineers use today to evaluate controller par...

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Control Systems Lectures - LTI Systems

This lecture describes what it means when we say a system is linear and time invariant. I also try to give an example as to why these systems are so important when designing control systems...

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State Space Representation of Differential Equations

In this video we show how to represent differential equations (either linear or non-linear) in state space form. This is useful as it allows us to combine an...

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PID Control with Posicast Control 8 - ( In English )

This is the follow up of PID Control with Posicast ( Part II )

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Humans, Robots, and Non-Prehensile Manipulation

This is a fun video that was inspired by a presentation I saw at the 2015 International Conference on Robotics and Automation (ICRA). I wanted to see if humans could duplicate the...

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Computing Euler Angles: The Euler Kinematical Equations and Poisson’s Kinema...

In this video we discuss how the time rate of change of the Euler angles are related to the angular velocity vector of the vehicle. This allows us to design...

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Control Bootcamp: Sensitivity and Complementary Sensitivity

Here we explore the sensitivity and complementary sensitivity functions, which are critical in understanding robustness and performance.

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Bandwidth of a Dynamic System

In this video we discuss the definition and physical meaning of the bandwidth of a dynamic system. We’ll see that this is a performance metric that is used ...

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