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SergeiSa committed Feb 1, 2024
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Showing 15 changed files with 118 additions and 29 deletions.
11 changes: 9 additions & 2 deletions Slides/Bode/settings.tex
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Expand Up @@ -33,17 +33,24 @@

\definecolor{mygreen}{RGB}{0, 200, 0}
\definecolor{mygreen2}{RGB}{245, 255, 230}
\definecolor{mydarkgreen}{RGB}{0, 120, 0}


\definecolor{mygray}{gray}{0.8}
\definecolor{mydarkgray}{RGB}{80, 80, 160}
\definecolor{mylightgray}{RGB}{160, 160, 160}

\definecolor{mydarkred}{RGB}{160, 30, 30}
\definecolor{mylightred}{RGB}{255, 150, 150}
\definecolor{myred}{RGB}{200, 110, 110}
\definecolor{myblackred}{RGB}{120, 40, 40}

\definecolor{mygreen}{RGB}{0, 200, 0}
\definecolor{mygreen2}{RGB}{205, 255, 200}
\definecolor{mypink}{RGB}{255, 30, 80}
\definecolor{myhotpink}{RGB}{255, 80, 200}
\definecolor{mywarmpink}{RGB}{255, 60, 160}
\definecolor{mylightpink}{RGB}{255, 80, 200}
\definecolor{mydarkpink}{RGB}{155, 25, 60}
\definecolor{mywhitepink}{RGB}{255, 240, 240}

\definecolor{mydarkcolor}{RGB}{60, 25, 155}
\definecolor{mylightcolor}{RGB}{130, 180, 250}
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11 changes: 9 additions & 2 deletions Slides/Control/settings.tex
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Expand Up @@ -33,17 +33,24 @@

\definecolor{mygreen}{RGB}{0, 200, 0}
\definecolor{mygreen2}{RGB}{245, 255, 230}
\definecolor{mydarkgreen}{RGB}{0, 120, 0}


\definecolor{mygray}{gray}{0.8}
\definecolor{mydarkgray}{RGB}{80, 80, 160}
\definecolor{mylightgray}{RGB}{160, 160, 160}

\definecolor{mydarkred}{RGB}{160, 30, 30}
\definecolor{mylightred}{RGB}{255, 150, 150}
\definecolor{myred}{RGB}{200, 110, 110}
\definecolor{myblackred}{RGB}{120, 40, 40}

\definecolor{mygreen}{RGB}{0, 200, 0}
\definecolor{mygreen2}{RGB}{205, 255, 200}
\definecolor{mypink}{RGB}{255, 30, 80}
\definecolor{myhotpink}{RGB}{255, 80, 200}
\definecolor{mywarmpink}{RGB}{255, 60, 160}
\definecolor{mylightpink}{RGB}{255, 80, 200}
\definecolor{mydarkpink}{RGB}{155, 25, 60}
\definecolor{mywhitepink}{RGB}{255, 240, 240}

\definecolor{mydarkcolor}{RGB}{60, 25, 155}
\definecolor{mylightcolor}{RGB}{130, 180, 250}
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11 changes: 9 additions & 2 deletions Slides/ControllabilityObservability/settings.tex
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Expand Up @@ -33,17 +33,24 @@

\definecolor{mygreen}{RGB}{0, 200, 0}
\definecolor{mygreen2}{RGB}{245, 255, 230}
\definecolor{mydarkgreen}{RGB}{0, 120, 0}


\definecolor{mygray}{gray}{0.8}
\definecolor{mydarkgray}{RGB}{80, 80, 160}
\definecolor{mylightgray}{RGB}{160, 160, 160}

\definecolor{mydarkred}{RGB}{160, 30, 30}
\definecolor{mylightred}{RGB}{255, 150, 150}
\definecolor{myred}{RGB}{200, 110, 110}
\definecolor{myblackred}{RGB}{120, 40, 40}

\definecolor{mygreen}{RGB}{0, 200, 0}
\definecolor{mygreen2}{RGB}{205, 255, 200}
\definecolor{mypink}{RGB}{255, 30, 80}
\definecolor{myhotpink}{RGB}{255, 80, 200}
\definecolor{mywarmpink}{RGB}{255, 60, 160}
\definecolor{mylightpink}{RGB}{255, 80, 200}
\definecolor{mydarkpink}{RGB}{155, 25, 60}
\definecolor{mywhitepink}{RGB}{255, 240, 240}

\definecolor{mydarkcolor}{RGB}{60, 25, 155}
\definecolor{mylightcolor}{RGB}{130, 180, 250}
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11 changes: 9 additions & 2 deletions Slides/Discrete/settings.tex
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Expand Up @@ -33,17 +33,24 @@

\definecolor{mygreen}{RGB}{0, 200, 0}
\definecolor{mygreen2}{RGB}{245, 255, 230}
\definecolor{mydarkgreen}{RGB}{0, 120, 0}


\definecolor{mygray}{gray}{0.8}
\definecolor{mydarkgray}{RGB}{80, 80, 160}
\definecolor{mylightgray}{RGB}{160, 160, 160}

\definecolor{mydarkred}{RGB}{160, 30, 30}
\definecolor{mylightred}{RGB}{255, 150, 150}
\definecolor{myred}{RGB}{200, 110, 110}
\definecolor{myblackred}{RGB}{120, 40, 40}

\definecolor{mygreen}{RGB}{0, 200, 0}
\definecolor{mygreen2}{RGB}{205, 255, 200}
\definecolor{mypink}{RGB}{255, 30, 80}
\definecolor{myhotpink}{RGB}{255, 80, 200}
\definecolor{mywarmpink}{RGB}{255, 60, 160}
\definecolor{mylightpink}{RGB}{255, 80, 200}
\definecolor{mydarkpink}{RGB}{155, 25, 60}
\definecolor{mywhitepink}{RGB}{255, 240, 240}

\definecolor{mydarkcolor}{RGB}{60, 25, 155}
\definecolor{mylightcolor}{RGB}{130, 180, 250}
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2 changes: 1 addition & 1 deletion Slides/HJB_LQR/main.tex
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Expand Up @@ -147,7 +147,7 @@
We can find control that delivers minimum to the function \eqref{eq:HJB_0}:

\begin{equation}
u^* = \underset{\bo{u}}{\argmin} \
u^* = \underset{\bo{u}}{\text{argmin}} \
\left[
g(\bo{x}, \bo{u}) +
\frac{\partial J^*}{\partial \bo{x}} \bo{f} (\bo{x}, \bo{u}) \right]
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11 changes: 9 additions & 2 deletions Slides/HJB_LQR/settings.tex
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Expand Up @@ -33,17 +33,24 @@

\definecolor{mygreen}{RGB}{0, 200, 0}
\definecolor{mygreen2}{RGB}{245, 255, 230}
\definecolor{mydarkgreen}{RGB}{0, 120, 0}


\definecolor{mygray}{gray}{0.8}
\definecolor{mydarkgray}{RGB}{80, 80, 160}
\definecolor{mylightgray}{RGB}{160, 160, 160}

\definecolor{mydarkred}{RGB}{160, 30, 30}
\definecolor{mylightred}{RGB}{255, 150, 150}
\definecolor{myred}{RGB}{200, 110, 110}
\definecolor{myblackred}{RGB}{120, 40, 40}

\definecolor{mygreen}{RGB}{0, 200, 0}
\definecolor{mygreen2}{RGB}{205, 255, 200}
\definecolor{mypink}{RGB}{255, 30, 80}
\definecolor{myhotpink}{RGB}{255, 80, 200}
\definecolor{mywarmpink}{RGB}{255, 60, 160}
\definecolor{mylightpink}{RGB}{255, 80, 200}
\definecolor{mydarkpink}{RGB}{155, 25, 60}
\definecolor{mywhitepink}{RGB}{255, 240, 240}

\definecolor{mydarkcolor}{RGB}{60, 25, 155}
\definecolor{mylightcolor}{RGB}{130, 180, 250}
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5 changes: 2 additions & 3 deletions Slides/Introduction/settings.tex
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Expand Up @@ -33,6 +33,8 @@

\definecolor{mygreen}{RGB}{0, 200, 0}
\definecolor{mygreen2}{RGB}{245, 255, 230}
\definecolor{mydarkgreen}{RGB}{0, 120, 0}


\definecolor{mygray}{gray}{0.8}
\definecolor{mydarkgray}{RGB}{80, 80, 160}
Expand All @@ -50,9 +52,6 @@
\definecolor{mydarkpink}{RGB}{155, 25, 60}
\definecolor{mywhitepink}{RGB}{255, 240, 240}

\definecolor{mygreen}{RGB}{0, 200, 0}
\definecolor{mygreen2}{RGB}{205, 255, 200}

\definecolor{mydarkcolor}{RGB}{60, 25, 155}
\definecolor{mylightcolor}{RGB}{130, 180, 250}

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8 changes: 7 additions & 1 deletion Slides/Kalman/main.tex
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Expand Up @@ -2,6 +2,12 @@

\input{settings.tex}

\newcommand{\db}[1] {\dot{\mathbf{#1}}}
\newcommand{\bhat}[1] {\hat{\mathbf{#1}}}
\newcommand{\dhat}[1] {\dot{\hat{\mathbf{#1}}}}
\newcommand{\btil}[1] {\Tilde{\mathbf{#1}}}
\newcommand{\dtil}[1] {\dot{\Tilde{\mathbf{#1}}}}


\title{Kalman Filter}
\subtitle{Control Theory, Lecture 10}
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\end{cases}
\end{equation}

where $\bhat{x}_{i+1}^-$ is an \emph{a priori} estimate. \textcolor{mygray2}{We can re-write the last equation as
where $\bhat{x}_{i+1}^-$ is an \emph{a priori} estimate. \textcolor{mylightgray}{We can re-write the last equation as
$\bhat{x}_{i+1} = \bhat{x}_{i+1}^- + \bo{L}_i (\bo{H} \bo{x}_i - \bo{H} \bhat{x}_{i+1}^- + \bo{v}_i) $.}

\bigskip
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11 changes: 9 additions & 2 deletions Slides/Kalman/settings.tex
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Expand Up @@ -33,17 +33,24 @@

\definecolor{mygreen}{RGB}{0, 200, 0}
\definecolor{mygreen2}{RGB}{245, 255, 230}
\definecolor{mydarkgreen}{RGB}{0, 120, 0}


\definecolor{mygray}{gray}{0.8}
\definecolor{mydarkgray}{RGB}{80, 80, 160}
\definecolor{mylightgray}{RGB}{160, 160, 160}

\definecolor{mydarkred}{RGB}{160, 30, 30}
\definecolor{mylightred}{RGB}{255, 150, 150}
\definecolor{myred}{RGB}{200, 110, 110}
\definecolor{myblackred}{RGB}{120, 40, 40}

\definecolor{mygreen}{RGB}{0, 200, 0}
\definecolor{mygreen2}{RGB}{205, 255, 200}
\definecolor{mypink}{RGB}{255, 30, 80}
\definecolor{myhotpink}{RGB}{255, 80, 200}
\definecolor{mywarmpink}{RGB}{255, 60, 160}
\definecolor{mylightpink}{RGB}{255, 80, 200}
\definecolor{mydarkpink}{RGB}{155, 25, 60}
\definecolor{mywhitepink}{RGB}{255, 240, 240}

\definecolor{mydarkcolor}{RGB}{60, 25, 155}
\definecolor{mylightcolor}{RGB}{130, 180, 250}
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11 changes: 9 additions & 2 deletions Slides/LMI/settings.tex
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Expand Up @@ -33,17 +33,24 @@

\definecolor{mygreen}{RGB}{0, 200, 0}
\definecolor{mygreen2}{RGB}{245, 255, 230}
\definecolor{mydarkgreen}{RGB}{0, 120, 0}


\definecolor{mygray}{gray}{0.8}
\definecolor{mydarkgray}{RGB}{80, 80, 160}
\definecolor{mylightgray}{RGB}{160, 160, 160}

\definecolor{mydarkred}{RGB}{160, 30, 30}
\definecolor{mylightred}{RGB}{255, 150, 150}
\definecolor{myred}{RGB}{200, 110, 110}
\definecolor{myblackred}{RGB}{120, 40, 40}

\definecolor{mygreen}{RGB}{0, 200, 0}
\definecolor{mygreen2}{RGB}{205, 255, 200}
\definecolor{mypink}{RGB}{255, 30, 80}
\definecolor{myhotpink}{RGB}{255, 80, 200}
\definecolor{mywarmpink}{RGB}{255, 60, 160}
\definecolor{mylightpink}{RGB}{255, 80, 200}
\definecolor{mydarkpink}{RGB}{155, 25, 60}
\definecolor{mywhitepink}{RGB}{255, 240, 240}

\definecolor{mydarkcolor}{RGB}{60, 25, 155}
\definecolor{mylightcolor}{RGB}{130, 180, 250}
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11 changes: 9 additions & 2 deletions Slides/Laplace/settings.tex
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Expand Up @@ -33,17 +33,24 @@

\definecolor{mygreen}{RGB}{0, 200, 0}
\definecolor{mygreen2}{RGB}{245, 255, 230}
\definecolor{mydarkgreen}{RGB}{0, 120, 0}


\definecolor{mygray}{gray}{0.8}
\definecolor{mydarkgray}{RGB}{80, 80, 160}
\definecolor{mylightgray}{RGB}{160, 160, 160}

\definecolor{mydarkred}{RGB}{160, 30, 30}
\definecolor{mylightred}{RGB}{255, 150, 150}
\definecolor{myred}{RGB}{200, 110, 110}
\definecolor{myblackred}{RGB}{120, 40, 40}

\definecolor{mygreen}{RGB}{0, 200, 0}
\definecolor{mygreen2}{RGB}{205, 255, 200}
\definecolor{mypink}{RGB}{255, 30, 80}
\definecolor{myhotpink}{RGB}{255, 80, 200}
\definecolor{mywarmpink}{RGB}{255, 60, 160}
\definecolor{mylightpink}{RGB}{255, 80, 200}
\definecolor{mydarkpink}{RGB}{155, 25, 60}
\definecolor{mywhitepink}{RGB}{255, 240, 240}

\definecolor{mydarkcolor}{RGB}{60, 25, 155}
\definecolor{mylightcolor}{RGB}{130, 180, 250}
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11 changes: 9 additions & 2 deletions Slides/Linearization/settings.tex
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Expand Up @@ -33,17 +33,24 @@

\definecolor{mygreen}{RGB}{0, 200, 0}
\definecolor{mygreen2}{RGB}{245, 255, 230}
\definecolor{mydarkgreen}{RGB}{0, 120, 0}


\definecolor{mygray}{gray}{0.8}
\definecolor{mydarkgray}{RGB}{80, 80, 160}
\definecolor{mylightgray}{RGB}{160, 160, 160}

\definecolor{mydarkred}{RGB}{160, 30, 30}
\definecolor{mylightred}{RGB}{255, 150, 150}
\definecolor{myred}{RGB}{200, 110, 110}
\definecolor{myblackred}{RGB}{120, 40, 40}

\definecolor{mygreen}{RGB}{0, 200, 0}
\definecolor{mygreen2}{RGB}{205, 255, 200}
\definecolor{mypink}{RGB}{255, 30, 80}
\definecolor{myhotpink}{RGB}{255, 80, 200}
\definecolor{mywarmpink}{RGB}{255, 60, 160}
\definecolor{mylightpink}{RGB}{255, 80, 200}
\definecolor{mydarkpink}{RGB}{155, 25, 60}
\definecolor{mywhitepink}{RGB}{255, 240, 240}

\definecolor{mydarkcolor}{RGB}{60, 25, 155}
\definecolor{mylightcolor}{RGB}{130, 180, 250}
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11 changes: 9 additions & 2 deletions Slides/LyapunovTheory/settings.tex
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Expand Up @@ -33,17 +33,24 @@

\definecolor{mygreen}{RGB}{0, 200, 0}
\definecolor{mygreen2}{RGB}{245, 255, 230}
\definecolor{mydarkgreen}{RGB}{0, 120, 0}


\definecolor{mygray}{gray}{0.8}
\definecolor{mydarkgray}{RGB}{80, 80, 160}
\definecolor{mylightgray}{RGB}{160, 160, 160}

\definecolor{mydarkred}{RGB}{160, 30, 30}
\definecolor{mylightred}{RGB}{255, 150, 150}
\definecolor{myred}{RGB}{200, 110, 110}
\definecolor{myblackred}{RGB}{120, 40, 40}

\definecolor{mygreen}{RGB}{0, 200, 0}
\definecolor{mygreen2}{RGB}{205, 255, 200}
\definecolor{mypink}{RGB}{255, 30, 80}
\definecolor{myhotpink}{RGB}{255, 80, 200}
\definecolor{mywarmpink}{RGB}{255, 60, 160}
\definecolor{mylightpink}{RGB}{255, 80, 200}
\definecolor{mydarkpink}{RGB}{155, 25, 60}
\definecolor{mywhitepink}{RGB}{255, 240, 240}

\definecolor{mydarkcolor}{RGB}{60, 25, 155}
\definecolor{mylightcolor}{RGB}{130, 180, 250}
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11 changes: 9 additions & 2 deletions Slides/Observer/settings.tex
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Expand Up @@ -33,17 +33,24 @@

\definecolor{mygreen}{RGB}{0, 200, 0}
\definecolor{mygreen2}{RGB}{245, 255, 230}
\definecolor{mydarkgreen}{RGB}{0, 120, 0}


\definecolor{mygray}{gray}{0.8}
\definecolor{mydarkgray}{RGB}{80, 80, 160}
\definecolor{mylightgray}{RGB}{160, 160, 160}

\definecolor{mydarkred}{RGB}{160, 30, 30}
\definecolor{mylightred}{RGB}{255, 150, 150}
\definecolor{myred}{RGB}{200, 110, 110}
\definecolor{myblackred}{RGB}{120, 40, 40}

\definecolor{mygreen}{RGB}{0, 200, 0}
\definecolor{mygreen2}{RGB}{205, 255, 200}
\definecolor{mypink}{RGB}{255, 30, 80}
\definecolor{myhotpink}{RGB}{255, 80, 200}
\definecolor{mywarmpink}{RGB}{255, 60, 160}
\definecolor{mylightpink}{RGB}{255, 80, 200}
\definecolor{mydarkpink}{RGB}{155, 25, 60}
\definecolor{mywhitepink}{RGB}{255, 240, 240}

\definecolor{mydarkcolor}{RGB}{60, 25, 155}
\definecolor{mylightcolor}{RGB}{130, 180, 250}
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11 changes: 9 additions & 2 deletions Slides/Stability/settings.tex
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Expand Up @@ -33,17 +33,24 @@

\definecolor{mygreen}{RGB}{0, 200, 0}
\definecolor{mygreen2}{RGB}{245, 255, 230}
\definecolor{mydarkgreen}{RGB}{0, 120, 0}


\definecolor{mygray}{gray}{0.8}
\definecolor{mydarkgray}{RGB}{80, 80, 160}
\definecolor{mylightgray}{RGB}{160, 160, 160}

\definecolor{mydarkred}{RGB}{160, 30, 30}
\definecolor{mylightred}{RGB}{255, 150, 150}
\definecolor{myred}{RGB}{200, 110, 110}
\definecolor{myblackred}{RGB}{120, 40, 40}

\definecolor{mygreen}{RGB}{0, 200, 0}
\definecolor{mygreen2}{RGB}{205, 255, 200}
\definecolor{mypink}{RGB}{255, 30, 80}
\definecolor{myhotpink}{RGB}{255, 80, 200}
\definecolor{mywarmpink}{RGB}{255, 60, 160}
\definecolor{mylightpink}{RGB}{255, 80, 200}
\definecolor{mydarkpink}{RGB}{155, 25, 60}
\definecolor{mywhitepink}{RGB}{255, 240, 240}

\definecolor{mydarkcolor}{RGB}{60, 25, 155}
\definecolor{mylightcolor}{RGB}{130, 180, 250}
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