control

Control

Implementing concepts from MECHTRON 4AX3 - Predictive and Intelligent Control.

Examples

LTI State Space

Simulates a car accelerating and coasting with drag. Accepts two arguments: <drag> <timestep>.

make examples/lti.cpp
./build/examples/lti.exe 0.6 0.1 > series.out
gnuplot examples/series.plot

Kalman Filter

Simulate the same car accelerating then coasting, but now a Kalman filter tries to estimate the position from noisy measurements.

make examples/kalman.cpp
./build/examples/kalman.exe .1 1 > series.out
gnuplot examples/series.plot

Roadmap

• Linear Least Squares via Normal Equation
• Gradient Descent solver
• State space classes & solving methods
• Kalman Filter
• Luenberger Observer
• Extended Kalman filter
  • Is this code any different than the standard KF?
• Control
  • Converging to optimal policy
  • Learning
  • Exploration