This course covers core topics in modern control theory: linearization of a nonlinear system around a given trajectory, existence and uniqueness theory for nonlinear and linear ordinary differential equations, the transition matrix of a linear time-varying system, controllability and observability for linear systems, weighting patterns and minimal realizations, feedback stabilization, linear state observers, free end-point and fixed end-point optimal control problems, the Riccati equation, the linear quadratic regulator. Laboratory experiments illustrate design considerations in implementing the lecture material.
