# CDS 110b: Two Degree of Freedom Control Design

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In this set of lectures we describe the problem of trajectory generation and tracking. We use differential flatness to generate feasible trajectories for the system, which are then tracked by a local (gain-scheduled) controller.

## Course Materials

- Notes on trajectory tracking
- Notes on differential flatness
- Partial MP3 of Monday lecture, 12 Feb 2007
- MP3 of Wednesday lecture, 14 Feb 2007
- Homework 6 (due 22 Feb @ 5 pm)
- normsteer.m - Normalized model for steering control system

## 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. Section 7.5
- Real Time Trajectory Generation for Differentially Flat Systems, M. J. van Nieuwstadt and R. M. Murray, Int'l. J. Robust & Nonlinear Control 8:(11) 995-1020, 1998.