Advanced Dynamics, Controls and System Identification
Description
Modeling and analysis of dynamical systems. This class will cover reference frames and coordinate systems, kinematics and constraints, mass distribution, virtual work, D'Alembert's principle, Lagrange and Hamiltonian equations of motion. We will then consider select topics in controls including: dynamical system stability, feedback linearization, system observability and controllability, and system identification methods. Students will learn and apply these concepts through homework and projects that involve the simulation of dynamical systems.
The goal of this course is to equip students with analytical tools for describing, identifying and controlling a dynamical system. Students will be able to analytically represent and identify a system model, propose a controller to drive the expected behavior, and reason about the system's stability. This class brings together all relevant prerequisites applied together in real-world examples for dynamical system description, identification, analysis, and control.
This course will be online only in AY21.
What you will learn
- Reason about a system's dynamical model and analytically represent the model.
- Given a dynamical model, design a control law that produces the expected behavior with analysis for guarantees (stability).
- Apply system identification techniques for approximating (partially observable) models and apply control techniques with this identification.
Prerequisites
- An undergraduate course in dynamics, two years of calculus, and one semester/quarter of linear algebra (ENGR15 or equivalent).
- Recommended: Linear Algebra ( EE 263, Math 113, CME 302 or equivalent), Partial Differential Equations ( Math 131P or equivalent).