12 years later still helping students. Awesome video.

i just place all closed loop poles on the negative real axis to get no overshoot and adjust the speed by moving it along the axis. The speed is determined by the control signal.

Amazing work!!!!

that was reaaally good. thanks

By far the best teacher for control systems and linear algebra (2nd one is arguable haha)

A question, do you still calculate u = kx? X hat I would imagine...

Excellent explanation! Thank you!

hey sir, did you bought that helical propeller swimmer or you just made ? i need an answer asap please

At 26:58 the laplace transform of exp(a*t) = 1/(s - a) not 1/(s + a) the former of which makes the analogy exact.

Crystal clear explanation. Puts other expositions to shame.

Wow this video was incredible. Thank you!!!

Thank you, this video really helps me with the understanding

perfect, thank you

Do you have any lectures on Stochastic MPC and Optimization?

Your lectures are really very useful and easy to follow because of the effective way of conveying concepts...

Great! It's so intuitive!!! Thank You

May I know Doc your references?

nice video

WOW ....clarity. i was also hoping for some intuition why they call it LQR! Basic math analysis says LQ is where you solve a quadratic ("Q") to meet a Linear ("L") constraint, but i don't see how that ties to Riccatti etc.....but otherwise you're video is TOPS!

Thanks, explanations in german about this topic are terrible

This channel has some really good content!!

Awesome lecture, thanks!

Dr.Why didn't you use MATLAB to teach this stuff????

this is how people teach.

hello Do you know how to make a state feedback (for a pole placement) when I have in the system some state variables that are not controllable ? I know i must take only the controlable AND the observable state but i don't know how to convert the input for the real system.

Professor, your teaching skills is amazing.

this is gold

very gooooood

very good

pretty clear

Pretty Good...

Suppose i am using kalman on time series data and I want a 60 day window then putting T = 60 does my job or is there any other way for this ?

Very usefull! thaks!

Hello, thank you very much for these crystal clear lessons. Could you please tell me why should we can assume that x(0) is zero during Laplace transformation? x(0) seems to be just an external starting point, like for example initial energy stored in the system for some reason, how can we impose this is zero?

Love this video. The best I've seen so far

I have spent multiple days trying to understand Jordan form. This was the only explanation that made sense to me. Thank you!

+1 for saying zeros can cause overshoot even though the closed loop poles are on the negative real axis in the s domain. So now the problem changes from guessing where to put the closed loop poles to guessing on how to chose the weights. It seems like there needs to be yet another level of optimization to select the best weights for Q and R. It seems there are many possibilities for optimal or the term optimal is used loosely. Saturation isn't as big a problem as feedback resolution. BTW, it is possible to place zeros too.

The only clear explanation i could find on KZbin

Isn't P being calculated by algebraic Ricatti equation?

Great example Thank you krub.

I still didn't understand why we need to use 1 above diagonal terms in Jordan blocks for the same eigenvalues

great explanation. Thank you so much

From a high level point of view, you give the LQR controller a trajectory X from 0:T, and a cost for trajectory deviation Q, a cost for effort R, and it returns the effort U from 0:T, as well as Xnew 0:T, such that the dynamic constraints are met, while J is minimized? In other words, X and Xnew may be different?

This is so underrated

Thank you! I couldn't understand what the generalized eigenvectors were, and no tutorial mentions that. They just talk about how a Jordan matrix looks. xd But this explained it perfectly!

The most clear explanation of this I have ever heard! Thank you !

SCON é pra meninos assim bambore

well explained tutorial thank u

excellent work, thank you

So how would I change the control law to make it a tractor instead of regulator ?