CDS 110b: State Estimation: Difference between revisions
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=== Lecture 1 === | === Lecture 1 === | ||
* {{cds110b-wi07_pdfs|syllabus.pdf|Syllabus}} | * {{cds110b-wi07_pdfs|syllabus.pdf|Syllabus}} | ||
* {{cds110b-wi07_pdfs|L1-1_intro.pdf|Lecture Presentation}} ([http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/3Jan07.mp3 MP3]) | * {{cds110b-wi07_pdfs|L1-1_intro.pdf|Lecture Presentation}} ([http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/3Jan07.mp3 MP3]) | ||
* {{cds110b-wi07_pdfs|hw1.pdf|HW #1}} | * {{cds110b-wi07_pdfs|hw1.pdf|HW #1}} | ||
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=== Lecture 2 === | === Lecture 2 === | ||
* {{cds110b-wi07_pdfs|L1-2_estimators.pdf|Lecture Presentation}} (MP3) | * {{cds110b-wi07_pdfs|L1-2_estimators.pdf|Lecture Presentation}} (MP3) | ||
Revision as of 18:37, 7 January 2007
See current course homepage to find most recent page available. |
| CDS 110b | Schedule | Project | FAQ | Reading |
This set of lectures presents an introduction to modern (optimization-based) control design and introduces the concepts of state estimation and observers. Beginning with a definition of observability, we provide conditions under which a linear system is observable and show how to construct an observer in the case where there is no noise. We then prove the separation principle, which shows how to combine state regulation with state estimation.
Course Materials
Lecture 1 |
Lecture 2
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References and Further Reading
- K. J. Åström and R. M. Murray, Feedback Systems: An Introduction for Scientists and Engineers, Preprint, 2006. Chapter 7 - Output Feedback.
- Friedland, Chapters 7 and 8
