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Linear Multivariable Control

Linear Multivariable Control

Course Syllabus

Course information
Week-by-week schedule

Homework

Homework solution and worked example guidelines
Homework 1
Homework 2
Homework 3

Project

Project

Lectures

Introduction
State-space representation
Introduction to optimization
Control certificate functions
Sequential Decision-Making
HJ reachability

Code Examples

CLF controller
HJ reachability basics
Tracking LQR
Direct methods (shooting vs simultaneous)

Worked Examples by Students

Derivative Free Optimization: Genetic Algorithm
Comparison of Numerical Integration Schemes (Adaptive Runge-Kutta)
Exploring Different Integration Methods
Dynamic Programming Approach to Optimal Control for LTI system
LQR Controller for an Inverted Pendulum on a Cart

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By Karen Leung (Instructor) & Oliver Sheridan (Teaching Assistant 2024, 2025)
© Copyright 2025.