ct optcon Tutorials

In this tutorial we will walk you through implementing several Optimal Controllers for your system, including a basic LQR controller, a Nonlinear Optimal Controller (NLOC), a Nonlinear Model Predictive Controller (NMPC) as well as Direct Multiple Shooting (DMS).

• LQR Control of a Damped Oscillator
• Optimal control of a Damped Oscillator
• Box-constrained nonlinear Optimal Control
• Generally-constrained nonlinear Optimal Control
• Model Predictive Control for a Damped Oscillator
• Classical, Constrained Direct Multiple Shooting for a Damped Oscillator
• Simple Examples for Nonlinear Programming
• Extended Kalman Filtering
• Extended Kalman Filter as Disturbance Observer