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Course Topics

• Direct and indirect Lyapunov theory
• Lyapunov-like analysis using Barbalat's lemma
• Calculus of variations
• Optimal control
• Dynamic programming (HJB equations)
• Constrained optimal control (Pontryagin maximum principle)
• Model reference adaptive control (MRAC)
• Robustness issues concerning adaptive systems

Grade: Inclass exams: 35%; Final exam (May 5, 2009, 8:00-11:00 am): 25%; Projects and homework: 40%

Office hours: By appointment