Material Detail

This open-access educational module covers mathematical modeling, feedback architectures, and optimization strategies for robotic motion and manipulator control.

Core Technical Topics

• Classical & State-Space: PID regulation, state-space realization, controllability/observability, and Linear Quadratic Regulators (LQR).

• Nonlinear Dynamics & Control: Euler-Lagrange multi-body dynamics, computed torque control via feedback linearization, and Lyapunov stability analysis.

• Predictive Optimization: Constrained Model Predictive Control (MPC) using Real-Time Iteration (RTI) and OSQP quadratic programming solvers.

• Dynamic Friction Modeling: Nonlinear LuGre friction observers, Stribeck compensation, and stick-slip tracking mitigation.

• Implementation Constraints: Latency and jitter compensation via Smith predictors and Kalman filtering, plus input shaping for flexible-joint resonance suppression.

Pedagogical Assets

• 12 fully worked numerical engineering problems with complete mathematical derivations.

• Interactive conceptual quick reviews and self-assessment checkpoints.

• Standardized layout optimized for university coursework and persistent archival reference.

Target Audience & Level Designed for upper-division undergraduate engineering courses (Robotics, Mechatronics, Control Systems, and Mechanical/Electrical Engineering) and practicing control engineers.