Education by L. Gerard van Willigenburg

Modelling at CAU: From Black Box to White Box?

Zipped Powerpoint, Matlab files and Papers on Fish Growth and Eutrophication of a Lake
Athletic Quadcopters thanks to Mathematical Models and Control Theory from TED

Research Papers and Presentations in English at CAU

Powerpoint
Mathemagic Presentation from TED
Ric Elias "Landing" on Hudson River from TED

Optimal Greenhouse Climate Control Lecture at SDAU.
Optimal Control in China: The Future or Not?

Powerpoint
"The role and use of the stochastic Linear-Quadratic-Gaussian problem in control system design", IEEE Trans. Aut. Contr., AC-16(6), 529-552
Athletic Quadcopters thanks to Mathematical Models and Control Theory from TED
Lecture notes modelling dynamic systems
Lecture notes optimal control
A license or demo license is required for Tomlab/Propt see: http://tomopt.com/tomlab/products/propt.

State-space modelling and optimal control at Diponegoro University Semarang

Powerpoint lecture 1
Powerpoint lecture 2
Lecture notes modelling dynamic systems
Lecture notes optimal control
A license or demo license is required for Tomlab/Propt see: http://tomopt.com/tomlab/products/propt.

Optimal Control Lecture at HAN.

Powerpoint presentation
"The role and use of the stochastic Linear-Quadratic-Gaussian problem in control system design", IEEE Trans. Aut. Contr., AC-16(6), 529-552
Lecture notes modelling dynamic systems
Lecture notes optimal control
Zipped Matlab/Tomlab examples to be used with Tomlab/Propt optimal control toolbox for Matlab.
A license or demo license is required for Tomlab/Propt see: http://tomopt.com/tomlab/products/propt.

Former course Robotics A550-215 at Wageningen University

Course guide 2002-2003: GU550-215-02-03.pdf
Lecture sheets: Sh550-215.pdf

Computer exercises: Pr550-215.pdf

Matlab m files
Summary chapters 1-4
Introduction to Robotics Mechanics and Control: summ1-4.pdf
Buy the book Introduction to Robotics Mechanics and Control by J.J. Craig at http://www.amazon.com or search for the "cheapest" version at http://elcheapo.nl/

Former Course Optimal Control A550-313 at Wageningen University

Lecture sheets: Sh550-313.pdf
Computer exercises: CE550-313.pdf

Use of the book Optimal Control and Estimation by R.F. Stengel: Bo550-313.pdf

Example of the temperature control in a room with a heater: Troom.pdf

The philosophy of this course is excellently described in: The Role and Use of the Stochastic Linear-Quadratic-Gaussian Problem in Control System Design, Michael Athans, 1971, IEEE Transactions on Automatic Control, AC-16, 6, pp. 529-552
.
An  adaptation of this paper for digital control: Digital optimal control of non-linear uncertain systems applied to rigid manipulators, pp. 240-275 of the PhD Thesis: Digital optimal control of rigid manipulators by L.G. van Willigenburg, 1991.

Exam and solutions of final two questions (the answers of the first two can be found on the sheets): ExJul02.pdf
.

Former DISC Course for PhD students entitled Digital Optimal Control

Course material DISC course: Digital optimal control

Lecture 1.
Sheets lecture 1 including the 2 compulsory exercises + solutions.
Paper 1; The Role and Use of the Stochastic Linear-Quadratic-Gaussian Problem in Control System Design, Michael Athans, 1971, IEEE Transactions on Automatic Control, AC-16, 6, pp. 529-552. (compulsory)
Paper 2; Digital optimal control of nonlinear uncertain systems applied to rigid manipulators, pp. 240-275 of the PhD Thesis: Digital optimal control of rigid manipulators by L.G. van Willigenburg, 1991, Delft University Press. (not compulsory)
Matlab m-files + solution m-file (ex2.m). for compulsory exercise 2

Lecture 2.
Sheets lecture 2 including the 2 compulsory exercises + solutions.
Paper 3; Synthesis of digital optimal reduced-order compensators for asynchronously sampled systems, L.G. van Willigenburg, W.L. De Koning, 2001, International Journal of System Science, 32, 7, pp. 825-835 (compulsory)
Paper 4; Digital optimal control and LQG compensation of asynchronous and aperiodically sampled non-linear systems,  L.G. Van Willigenburg, 1995, Proceedings 3rd European Control Conference, Rome, Italy, September 1995, Vol. 1, pp. 496-500 (not compulsory)
Paper 5; Minimality, canonical forms and storage of finite-horizon discrete-time compensators, L.G. van Willigenburg, W.L. De Koning, 2002, Preprints IFAC World Congress, Barcelona, 21-26 July, 2002, paper 984  (not compulsory)
Matlab m-files digital optimal solar power plant control (compulsory exercise 1)
Matlab m-files + solution m-files (lqgar1.m, lqgar2.m, lqgady1.m) paper 3 ( compulsory exercise 2)

Lecture 3.
Sheets lecture 3 including the 2 compulsory exercises + solutions.
Paper 6; Randomized digital optimal control, Chapter 12 in Non Uniform Sampling Theory and Practice, W.L. De Koning, L.G. van Willigenburg, 2001, Kluwer Acadamic/Plenum Publishers, ISBN 0-306-46445-4, Edited by Farokh Marvasti
Matlab m-files + solution m-files (fig3.m, fig5.m). ( compulsory exercise 2)

Lecture 4.
Paper 7; Stochastic dynamic programming: Caution and probing, Y. Bar-Shalom, 1981, "IEEE Trans. Aut. Contr., AC-26(5), 1184-1195
Paper 8; Dual effect, certainty equivalence, and separation in stochastic control,  Y. Bar-Shalom, T. Tse, 1974, IEEE Trans. Aut. Contr., AC-19(5), 494-500
Paper 9; Dual Control Theory I, A.A. Feldbaum, 1961, Automation and Remote Control, 21, 874-880
Paper 10; Survey of adaptive dual control methods, N.M. Filatov, H. Unbehauen, 2000, IEE Proceedings D, 147, 1, 118-128

Comments or questions? Send an e-mail to Gerard van Willigenburg.

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