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Mechanical Engineering 233: Advanced Control Systems II

Mechanical Engineering 233: Advanced Control Systems II (Spring 2014, UC Berkeley). Instructor: Xu Chen. Advanced Control Systems II discusses advanced practical topics: Linear Quadratic Optimal Control, Stochastic State Estimation (Kalman Filter), Linear Quadratic Gaussian Problem, Loop Transfer Recovery, System Identification, Adaptive Control and Model Reference Adaptive Systems, Self Tuning Regulators, Repetitive Control, Disturbance Observers.

Lecture 03 - Review of Probability Theory


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Lecture 01 - Introduction
Lecture 02 - Discrete-time Linear Quadratic Optimal Control
Lecture 03 - Review of Probability Theory
Lecture 04 - Review of Probability Theory: Random Process
Lecture 05 - Principles of Least Squares Estimation
Lecture 06 - Stochastic State Estimation (Kalman Filter)
Lecture 07 - Stochastic State Estimation (Kalman Filter) (cont.)
Lecture 08 - Linear Quadratic Gaussian (LQG) Control
Lecture 09 - Linear Quadratic Gaussian (LQG) Control (cont.)
Lecture 10 - MIMO Control and Discretization
Lecture 11 - Discretization and Implementation of Continuous-time Design
Lecture 12 - LQ with Frequency Shaped Cost Function (FSLQ)
Lecture 13 - Feedforward Control Zero Phase Error Tracking
Lecture 14 - Internal Model Principle and Repetitive Control
Lecture 15 - Disturbance Observers, Part 1
Lecture 16 - Disturbance Observers, Part 2
Lecture 17 - System Identification and Recursive Least Squares
Lecture 18 - Stability Analysis of Adaptive Systems (I)
Lecture 19 - Stability Analysis of Adaptive Systems (II)
Lecture 20 - PAA with Parallel Predictors
Lecture 21 - Parameter Convergence in PAAs