Dynamics and Control

MPC, LQR, System Identification, etc.

This is the repo of notes recording my learning trajectory of Dynamics and Control.

I attach all the material I find useful for my thinking. Though some of those are in Chinese.

Topics Included

• Euler Lagrange Dynamics
• Newton Euler Dynamics
• Forward Dynamics
• (LQR) Linear Quadratic Regulator
• (iLQR) iterative Linear Quadratic Regulator

Topics not yet ready

• (MPC) Model Predictive Control
• System Identification
• Impedance Control
• Admittance Control
• QP Controller
• (PFL) Partial Feedback Linearization / Input-Output Linearization

TODO

• FD notes