**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**

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**

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**

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.