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https://github.com/boisgera/control-engineering-with-python

Control Engineering with Python
https://github.com/boisgera/control-engineering-with-python

control-theory dynamical-systems engineering matplotlib numpy odes python scipy

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Control Engineering with Python

Host: GitHub
URL: https://github.com/boisgera/control-engineering-with-python
Owner: boisgera
License: cc-by-4.0
Created: 2018-11-11T17:23:31.000Z (about 6 years ago)
Default Branch: master
Last Pushed: 2024-05-14T09:16:34.000Z (7 months ago)
Last Synced: 2024-10-30T21:03:39.940Z (about 2 months ago)
Topics: control-theory, dynamical-systems, engineering, matplotlib, numpy, odes, python, scipy
Language: JavaScript
Homepage:
Size: 26.6 MB
Stars: 65
Watchers: 5
Forks: 33
Open Issues: 39
Metadata Files:
- Readme: README.md
- License: LICENSE

Awesome Lists containing this project

README

        # Control Engineering with Python

[![Build Status](https://github.com/boisgera/control-engineering-with-python/workflows/build/badge.svg)](https://github.com/boisgera/control-engineering-with-python/actions) [![Join the chat at https://gitter.im/control-engineering-with-python/community](https://badges.gitter.im/control-engineering-with-python/community.svg)](https://gitter.im/control-engineering-with-python/community?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge)

### Notations

| Symbol | Meaning     | Symbol | Meaning                |

| ------ | ----------- | ------ | ---------------------- |

| 🐍     | Code        | 🔍     | Worked Example         |

| 📈     | Graph       | 🧩     | Exercise               |

| 🏷️     | Definition  | 💻     | Numerical Method       |

| 💎     | Theorem     | 🧮     | Analytical Method      |

| 📝     | Remark      | 🧠     | Theory                 |

| ℹ️     | Information | 🗝️     | Hint                   |

| ⚠️     | Warning     | 🔓     | Solution               |

### :books: Program & Slides

0.  **Introduction to Control Engineering** 

    ([HTML](https://boisgera.github.io/control-engineering-with-python/intro.html),

    [PDF](https://boisgera.github.io/control-engineering-with-python/intro.pdf),

    [IPYNB](https://mybinder.org/v2/gh/boisgera/control-engineering-with-python/gh-pages?filepath=intro.ipynb))

1.  **Introduction to Dynamical Systems**

    - Models ([HTML](https://boisgera.github.io/control-engineering-with-python/models.html),

      [PDF](https://boisgera.github.io/control-engineering-with-python/models.pdf),

      [IPYNB](https://mybinder.org/v2/gh/boisgera/control-engineering-with-python/gh-pages?filepath=models.ipynb))

    - Simulation ([HTML](https://boisgera.github.io/control-engineering-with-python/simulation.html),

      [PDF](https://boisgera.github.io/control-engineering-with-python/simulation.pdf),

      [IPYNB](https://mybinder.org/v2/gh/boisgera/control-engineering-with-python/gh-pages?filepath=simulation.ipynb))

    - Well-posedness ([HTML](https://boisgera.github.io/control-engineering-with-python/well-posedness.html),

      [PDF](https://boisgera.github.io/control-engineering-with-python/well-posedness.pdf),

      [IPYNB](https://mybinder.org/v2/gh/boisgera/control-engineering-with-python/gh-pages?filepath=well-posedness.ipynb))

    - Asymptotic Behavior ([HTML](https://boisgera.github.io/control-engineering-with-python/asymptotic.html),

      [PDF](https://boisgera.github.io/control-engineering-with-python/asymptotic.pdf),

      [IPYNB](https://mybinder.org/v2/gh/boisgera/control-engineering-with-python/gh-pages?filepath=asymptotic.ipynb))

2.  **Linear-Time Invariant Systems**

    - LTI Models ([HTML](https://boisgera.github.io/control-engineering-with-python/LTI-models.html),

      [PDF](https://boisgera.github.io/control-engineering-with-python/LTI-models.pdf),

      [IPYNB](https://mybinder.org/v2/gh/boisgera/control-engineering-with-python/gh-pages?filepath=LTI-models.ipynb))

    - Internal dynamics ([HTML](https://boisgera.github.io/control-engineering-with-python/internal-dynamics.html),

      [PDF](https://boisgera.github.io/control-engineering-with-python/internal-dynamics.pdf),

      [IPYNB](https://mybinder.org/v2/gh/boisgera/control-engineering-with-python/gh-pages?filepath=IO-dynamics.ipynb))

    - I/O behavior ([HTML](https://boisgera.github.io/control-engineering-with-python/IO-dynamics.html),

      [PDF](https://boisgera.github.io/control-engineering-with-python/IO-dynamics.pdf),

      [IPYNB](https://mybinder.org/v2/gh/boisgera/control-engineering-with-python/gh-pages?filepath=IO-dynamics.ipynb))

3.  **Controller Design**

    - Controllability ([HTML](https://boisgera.github.io/control-engineering-with-python/controllability.html),

      [PDF](https://boisgera.github.io/control-engineering-with-python/controllability.pdf),

      [IPYNB](https://mybinder.org/v2/gh/boisgera/control-engineering-with-python/gh-pages?filepath=controllability.ipynb))

    - Asymptotic Stabilization ([HTML](https://boisgera.github.io/control-engineering-with-python/asymptotic-stabilization.html),

      [PDF](https://boisgera.github.io/control-engineering-with-python/asymptotic-stabilization.pdf),

      [IPYNB](https://mybinder.org/v2/gh/boisgera/control-engineering-with-python/gh-pages?filepath=asymptotic-stabilization.ipynb))

    - Optimal Control ([HTML](https://boisgera.github.io/control-engineering-with-python/optimal-control.html),

      [PDF](https://boisgera.github.io/control-engineering-with-python/optimal-control.pdf),

      [IPYNB](https://mybinder.org/v2/gh/boisgera/control-engineering-with-python/gh-pages?filepath=optimal-control.ipynb))

4.  **Observers**

    ([HTML](https://boisgera.github.io/control-engineering-with-python/observers.html),

    [PDF](https://boisgera.github.io/control-engineering-with-python/observers.pdf),

    [IPYNB](https://mybinder.org/v2/gh/boisgera/control-engineering-with-python/gh-pages?filepath=observers.ipynb))

    - Observability 

    - Observer design: pole assignment & optimal filtering 

5.  **Application to mobile robotics** 

    - Lagrangian mechanics

    - Kinematic models of mobile robots

    - Control of mobile robots

### :notebook: Notebooks

The course contents are also available as Jupyter notebooks.

Open, edit and run these notebooks either

- :cloud: in the cloud: [open project with Binder][ceip-binder] or

- :computer: on your computer: [follow the instructions](install.md).

[ceip-binder]: https://mybinder.org/v2/gh/boisgera/control-engineering-with-python/gh-pages

### :rocket: Project

  - :octocat: Fork [this project](https://github.com/boisgera/control-engineering-with-python-project-2023-2024) as a starting point;

    when needed, "fetch upstream" to get the project updates.

### :tada: Extra resources

#### :computer: Animation of dynamical systems

Example notebook: double pendulum

- [view in GitHub](https://github.com/boisgera/control-engineering-with-python/blob/master/examples/animation.ipynb),

- [open in binder](https://mybinder.org/v2/gh/boisgera/control-engineering-with-python/gh-pages?filepath=examples/animation.ipynb).

#### :books: Free External Resources

- :book: [Nicolas Rougier – Scientific Visualization: Python + Matplotlib](https://hal.inria.fr/hal-03427242/document)

- :book: [Eduardo Sontag – Mathematical Control Theory](http://www.sontaglab.org/FTPDIR/sontag_mathematical_control_theory_springer98.pdf)

- :book: [Vladimír Kučera – Riccati Equations and their Solution](http://library.utia.cas.cz/separaty/2011/TR/kucera-0436431.pdf)

- :book: [The Zodiac – Theory of Robot Control](http://www.gipsa-lab.grenoble-inp.fr/~carlos.canudas-de-wit/publications/Theory_of_robot_control.pdf)

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