New set of notes
Lecture 1: Review from Linear Systems theory
Lecture 2: Elements of Differential Geometry
Lecture 3: Elements of Riemannian Geometry
Lecture 4: Distributions and Controllability
Lecture 7: Feedback stabilization and Brockett’s theorem
Lecture 8: Feedback invariants and feedback linearization
Lecture 9 : Control on Lie groups
Lecture 10: Geometric optimization and gradient flows
disclaimer: some lectures are more polished than others, and some are yet to be uploaded.
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ECE598 (Spr2016): Lecture notes 1-2-3
ECE598 (Spr2016): Lecture notes 1-2
ECE598 (Spr 2016): Lecture notes 1
Early days of Geometric Control
Lie groups and Lie algebras in control
Old lecture notes are below.
ECE 598 Lecture 1: Review form Linear Systems
ECE 598 Lecture 2: Elements of differential geometry (I)
ECE 598 Lecture 2: Elements of differential geometry (I+II) [Feb 13 2014]
ECE 598 Lecture 3: Controllability, distributions and Frobenius theorem [I+II+III]
ECE 598 Lecture 4: Brockett’s necessary condition for feedback stabilization [I+II+III+IV]
ECE 598 Lecture 5: Observability
ECE 598 Lecture 8: Feedback Linearization