Materials Related to Control and Dynamical Systems

Control Theory:

• Linear Control:
  • Brian Douglas [Videos] ○
  • Control Bootcamp – Steve Brunton [Videos] ○
  • Richard Murray’s Perspective [Book] □
  • John Doyle’s Perspective [Book] ◇
• Nonlinear Control:
  • Isidori’s Perspective [Book] ◇
  • Khalil’s Perspective [Book] □
  • Sastry’s Perspective [Book] □
  • Sontag’s Perspective [Book] ◇◇
  • (Lyapunov) Stability [Book] □
  • Safety [Paper] □

Optimization:

• Optimization Theory:
  • Convex Optimization [Book] □
  • Convex Optimization [Videos] ○
• Trajectory Optimization:
  • Introduction [Video] ○
  • Matthew Kelly’s Perspective [Site] ○

Online Planning:

• A crash course on MPC (Lectures 1-6) [Slides] □
• MPPI [Paper] ◇
• MPPI [Video Tutorial] □

Robotics:

• Russ Tedrake’s Perspective [Site] □
• Russ Tedrake’s Perspective [Videos] ○
• Hybrid Systems Modeling and Hybrid Zero Dynamics [Book] □
• 3D Walking Robots from an HZD Perspective [Paper] □

Mathematics:

• Understanding Analysis [Book] ○
• Topology without Tears [Book] ○
• Topology [Book] □
• Linear Algebra Done Right [Book] ○

Approachability:

○ - Very Approachable
□ - Some Effort Needed
◇ - Requires Motivation
◇◇ - Requires Dedication

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