The Kalman Filter

This article introduces the Kalman filter at a high level and tries to provide some insight into how the filter is able to estimate state by combining measurements and models. 

This is an...

How a Kalman Filter Works in Pictures

This article builds up some intuition about the Kalman filter using pictures before diving into the mathematics.  A beginner will come away with an understanding of what the Kalman filter is...

Experience Controls App

The Experience Controls app is a unique interactive mobile textbook introducing students to control systems fundamentals in an engaging way, through accessible language, real-time dynamic...

An Introduction to the Kalman Filter

The purpose of this paper is to provide a practical introduction to the discrete Kalman filter. This introduction includes a description and some discussion of the basic discrete Kalman...

Radar Tutorial (English)

This page provides a detailed overview of radar principles and technologies, including mathematical, physical and technical explanations. “Radartutorial” explains the fundamentals of radar...

Introduction to Noise Filtering

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

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...

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...

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...

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...

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...

What's a Control System and Why Should I Care? A whirlwind tour through the ...

This paper aims to provide some introduction, a cheat sheet, and some context for college level STEM students about to take that first controls class. In some cases, it provides context...

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.

Introduction: PID Controller Design

In this tutorial we will introduce a simple, yet versatile, feedback compensator structure: the Proportional-Integral-Derivative (PID) controller. The PID controller is widely employed...

System Identification Overview

System identification is a methodology for building mathematical models of dynamic systems using measurements of the input and output signals of the system.  This overview from Mathworks...

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...

How Kalman Filters Work, Part 1

This article looks at four popular estimation filter architectures: particle filter, sigma point filter, extended Kalman filter, and the Kalman filter. It discusses how all four of these...

MPCTools: Nonlinear Model Predictive Control Tools for CasADi (Python Interf...

This Python package is a collection of model predictive control tools that build on CasADi by providing a simpler interface. Along with the python package, there are a bunch of example files...

Thoughts on Furthering the Control Education of Practicing Engineers

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 to...

MATLAB Function: phased.MVDRBeamformer

The phased.MVDRBeamformer System object™ implements a narrowband minimum-variance distortionless-response (MVDR) beamformer. The MVDR beamformer is also called the Capon beamformer. An MVDR...

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. 

Using Simscape™ to Model a Quanser QUBE-Servo 2 with Friction

Modelling a DC servomotor is one of the common examples used in control system textbooks and courses. Given that so many systems use DC motors, e.g. robot manipulator arms, it’s an important...

Algorithms to Antenna: Increasing Angular Resolution Using MIMO Radar

Articles in Microwaves & RF that talks about how forming virtual arrays with multiple-input, multiple-output waveforms makes it possible to generate more focused beam patterns.

TCLab PID Control

Implement a PID controller on the Temperature Control Lab hardware to drive the temperature from room temperature to 60 degrees C. This resource lets you attempt the design yourself first...

The Institute for Systems Theory and Automatic Control MATLAB Apps

The Institute for Systems Theory and Automatic Control offers 5 Matlab Apps on the topics of the Nyquist Criterion, Robustness and Stability, Loopshaping, Controllability and Observability...