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Commitcf10d95

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update Google Colab links, Makefile directions
1 parente4f2710 commitcf10d95

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‎doc/examples.rst

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simulating_discrete_nonlinear
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steering
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stochresp
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Google Colab Notebooks
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======================
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A collection of Jupyter notebooks are available on [Google Colab](),
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where they can be executed through a web browser:
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* [Caltech CDS 110/112 Google Colab
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notebooks](https://drive.google.com/drive/folders/1LI2xWVn1kqrZ5lIcM5Ktxr2B7X730cCj?usp=share_link):
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Jupyter notebooks created by Richard Murray for CDS 110 (Analysis
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and Design of Feedback Systems) and CDS 112 (Optimization-Based
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Control) at Caltech.
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Note: in order to execute the Jupyter notebooks in this collection,
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you will need a Google account that has access to the Google
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Colaboratory application.

‎examples/Makefile

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#
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# This makefile allows cleanup and posting of Jupyter notebooks into
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# Google Colab.
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#
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# Files are copied to Google Colab using rclone. In order to copy files to
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# Google Colab, you should edit the GDRIVE variable to use the name of the
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# drive you have configured in rclone and the path where you want to place
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# the files. The default location is set up for the fbsbook.org@gmail.com
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# Google Drive account, currently maintained by Richard Murray.
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NOTEBOOKS = cds110-L*_*.ipynb cds112-L*_*.ipynb
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GDRIVE= gdrive:projects/python-control/public/notebooks
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GDRIVE=fbsbook-gdrive:python-control/public/notebooks
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# Clean up notebooks to remove output
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clean: .ipynb-clean
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# Post Jupyter notebooks on course website
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post: .ipynb-clean
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rclone copy.$(GDRIVE) --include /cds110-L\*_\*.ipynb
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rclone copy.$(GDRIVE) --include /cds112-W\*_\*.ipynb

‎examples/cds110-L1_servomech-python.ipynb

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"<h3>Richard M. Murray, Winter 2024</h3>\n",
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"</center>\n",
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"\n",
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"[Open in Google Colab](https://colab.research.google.com/drive/1a9ECA-g4Vfi-D3LtbN21xtV9dLzA2RrF)\n",
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"[Open in Google Colab](https://colab.research.google.com/drive/1GKRYwtbHWSWc21EIYYIZUnbJqUorhY8w)\n",
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"\n",
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"In this lecture we show how to model an input/output system and design a controller for the system (using eigenvalue placement). This main intent of this lecture is to introduce the Python Control Systems Toolbox ([python-control](https://python-control.org)) and how it can be used to design a control system.\n",
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"\n",

‎examples/cds110-L2_invpend-dynamics.ipynb

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"<h3>Richard M. Murray, Winter 2024</h3>\n",
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"</center>\n",
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"\n",
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"[Open in Google Colab](https://colab.research.google.com/drive/1rAFZyV5XrLrqTpCJ83ow7QBJBJy8yy3u)\n",
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"[Open in Google Colab](https://colab.research.google.com/drive/1is083NiFdHcHX8Hq56oh_AO35nQGO4bh)\n",
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"\n",
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"In this lecture we investigate the nonlinear dynamics of an inverted pendulum system. More information on this example can be found in [FBS2e](https://fbswiki.org/wiki/index.php?title=FBS), Examples 3.3 and 5.4. This lecture demonstrates how to use [python-control](https://python-control.org) to analyze nonlinear systems, including creating phase plane plots.\n"
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]

‎examples/cds110-L3_lti-systems.ipynb

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"<h3>Richard M. Murray, Winter 2024</h3>\n",
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"</center>\n",
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"\n",
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"[Open in Google Colab](https://colab.research.google.com/drive/1ZJUAOXFR6VXQ9xfba9KT99N4FbEraQMM)\n",
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"[Open in Google Colab](https://colab.research.google.com/drive/164yYvB86c2EvEcIHpUPNXCroiN9nnTAa)\n",
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"\n",
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"In this lecture we describe tools in the Python Control Systems Toolbox ([python-control](https://python-control.org]) that can be used to analyze linear systems, including some of the options available to present the information in different ways.\n"
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]

‎examples/cds110-L4a_predprey-statefbk.ipynb

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"<h3>Richard M. Murray, Winter 2024</h3>\n",
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"</center>\n",
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"\n",
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"[Open in Google Colab](https://colab.research.google.com/drive/1Xi-BErGhxYUkJfx3XD_b3PAAR0eIHV8d)\n",
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"[Open in Google Colab](https://colab.research.google.com/drive/1yMOSRNDDNtm-TJGMXX3NS7F4XybOuch-)\n",
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"\n",
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"In this lecture we describe the use of state space control concepts to analyze and stabilize the dynamics of a nonlinear model of a predator-prey system.\n"
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]

‎examples/cds110-L4b_lqr-tracking.ipynb

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"<h3>Richard M. Murray and Natalie Bernat, Winter 2024</h3>\n",
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"</center>\n",
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"\n",
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"[Open in Google Colab](https://colab.research.google.com/drive/1hMR9YfmWJZ72r9_eObeA9JKkpTt-jDtM)\n",
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"[Open in Google Colab](https://colab.research.google.com/drive/1Q6hXokOO_e3-wl6_ghigpxGJRUrGcHp3)\n",
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"\n",
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"This example uses a linear system to show how to implement LQR based tracking and some of the tradeoffs between feedfoward and feedback. Integral action is also implemented."
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]

‎examples/cds110-L5_kincar-estimation.ipynb

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"<h3>Richard M. Murray, Winter 2024</h3>\n",
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"</center>\n",
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"\n",
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"[Open in Google Colab](https://colab.research.google.com/drive/1SzTlvNUQIlOyQuNNu-SqQ8cFM3d1r2m-)\n",
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"[Open in Google Colab](https://colab.research.google.com/drive/1TESB0NzWS3XBxJa_hdOXMifICbBEDRz8)\n",
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"\n",
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"In this lecture, we will show how to construct an observer for a system in the presence of noise and distrubances.\n",
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"\n",

‎examples/cds110-L6a_kincar-trajgen.ipynb

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"<h3>Richard M. Murray, Winter 2024</h3>\n",
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"</center>\n",
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"\n",
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"[Open in Google Colab](https://colab.research.google.com/drive/1zDllxX3q--nmElAaCGAuEl0taVNJ-8UF)\n",
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"[Open in Google Colab](https://colab.research.google.com/drive/1vBFjCU2W6fSavy8loL0JfgZyO6UC46m3)\n",
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"\n",
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"This notebook contains an example of using (optimal) trajectory generation for a vehicle steering system. It illustrates different methods of setting up optimal control problems and solving them using python-control."
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]

‎examples/cds110-L6b_kincar-tracking.ipynb

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"<h3>Richard M. Murray, Winter 2024</h3>\n",
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"</center>\n",
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"\n",
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"[Open in Google Colab](https://colab.research.google.com/drive/17ZtYB2wQDl_cS1VaQwo62c8UU05lNAg6)\n",
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"[Open in Google Colab](https://colab.research.google.com/drive/12VSFMqM6HVyj8TY_3zb0AnsJrG6UeLKF)\n",
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"\n",
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"This notebook contains an example of using trajectory tracking for a (nonlinear) state space system. The controller is of the form\n",
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"\n",

‎examples/cds110-L6c_doubleint-rhc.ipynb

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"<h3>Richard M. Murray, Winter 2024</h3>\n",
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"</center>\n",
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"\n",
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"[Open in Google Colab](https://colab.research.google.com/drive/1c_Af8KVRhfyMFOT3WtLALBjEI6A0pTWK)\n",
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"[Open in Google Colab](https://colab.research.google.com/drive/1AufRjpbdKcOEoWO5NEiczF3C8Rc4JuTL)\n",
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"\n",
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"To illustrate the implementation of a receding horizon controller, we consider a linear system corresponding to a double integrator with bounded input:\n",
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"\n",

‎examples/cds110-L7_bode-nyquist.ipynb

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"<h3>Richard M. Murray, Winter 2024</h3>\n",
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"</center>\n",
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"\n",
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"[Open in Google Colab](https://colab.research.google.com/drive/1K4J9ljR4cw9WBjlYQZ2a1cK0XLH6Vhrf)\n",
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"[Open in Google Colab](https://colab.research.google.com/drive/1-BIaln1nF41fGqavzliuWT74nBkAnM3x)\n",
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"\n",
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"The purpose of this lecture is to introduce tools that can be used for frequency domain modeling and analysis of linear systems. It illustrates the use of a variety of frequency domain analysis and plotting tools."
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]

‎examples/cds110-L8a_maglev-limits.ipynb

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"<h3>Richard M. Murray, Winter 2024</h3>\n",
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"</center>\n",
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"\n",
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"[Open in Google Colab](https://colab.research.google.com/drive/16ZYDXSU7aBNcDiWiYrGU3iMCjXvDY2aN)\n",
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"[Open in Google Colab](https://colab.research.google.com/drive/1MuDZfw72UkI4_Ji_AsEDTPi7IaSURsYP)\n",
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"\n",
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"This notebook contains the code used to create the magnetic levitation example in Lecture 8-1 of CDS 110, Winter 2024."
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]

‎examples/cds110-L8b_pvtol-complete-limits.ipynb

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"<h3>Richard M. Murray, Winter 2024</h4>\n",
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"</center>\n",
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"\n",
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"[Open in Google Colab](https://colab.research.google.com/drive/1ZdY0Xq7k6pOksM6DW1q4iPN6rQ9yeLn7)\n",
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"[Open in Google Colab](https://colab.research.google.com/drive/1XulsQqbthMkr3g58OTctIYKYpqirOgns)\n",
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"\n",
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"The purpose of this lecture is to introduce tools that can be used for frequency domain modeling and analysis of linear systems."
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]

‎examples/cds110-L9_servomech-pid.ipynb

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"<h3>Richard M. Murray, Winter 2024</h3>\n",
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"</center>\n",
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"\n",
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"[Open in Google Colab](https://colab.research.google.com/drive/1UTFFAQckiPEiGUvmQTAAJLUmoVpXymzz)\n",
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"[Open in Google Colab](https://colab.research.google.com/drive/1BP0DFHh94tSxAyQetvOEbBEHKrSoVGQW)\n",
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"\n",
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"In this lecture we will use a variety of methods to design proportional (P), proportional-integral (PI), and proportional-integral-derivative (PID) controllers for a cart pendulum system."
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]

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