Homework


Homework #8

Posted on May 22

Due at 9:00pm on June 5

This homework will have you building experience with adaptive control techniques and the core concepts of linear system identification.

[pdf] [code]

Homework #7

Posted on May 15

Due at 9:00pm on May 22

In this homework you will gain experience with the theory and practical aspects of model predictive control.

[pdf] [code]

Homework #6

Posted on May 8

Due at 9:00pm on May 15

In this homework you will investigate numerical approaches to direct optimal control.

[pdf] [code]

Homework #5

Posted on May 1

Due at 9:00pm on May 9

In this homework you will investigate usage of Pontryagin’s Minimum Principle for the control of a rocket launch. You will then investigate aspects of numerical indirect methods for the same problem.

[pdf] [code]

Homework #4

Posted on April 24

Due at 9:00pm on May 1

In this homework, you will investigate applications of the calculus of variations. Additionally, you will become familiar with application of the Hamiltonian equations for optimal control.

[pdf] [code]

Homework #3

Posted on April 17

Due at 9:00pm on April 24

This homework will build familiarity with practical application of dynamic programming for stochastic systems, as well as theoretical and practical application of HJB and HJI.

[pdf] [code]

Homework #2

Posted on April 11

Due at 9:00pm on April 18

This homework will build understanding and familiarity with dynamic programming as a general purpose tool. In problems 4 and 5, you will use Matlab to implement LQR and iterative LQR to control an inverted pendulum system.

[pdf] [code]

Homework #1

Posted on April 3

Due at 1:30pm on April 10

The goal of this homework is to build intuition for nonlinear optimization tools that will be critically important later in the course. Additionally, the last problem is a first, simple optimal control problem that will motivate approaches we develop in the rest of the class.

[pdf] [code]