Neural Networks for Optimal Control

Course summary

General information

• Welcome to the doctoral course Neural Networks for... (Text and media area)
• Directions-from-M2-metro-to-LA (File)
• Course schedule (Text and media area)
• Material - The course slides can be found below an... (Text and media area)
• Bibliography (Folder)
• Exam format- Upon taking an exam, the course gives... (Text and media area)
• Pre-requisites- Basic control theory for linear sy... (Text and media area)
• Installing tools for Python development (File)
• Text and media area (Text and media area)

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L1 Introduction to the course

• L1 Intro course NN4OC display from ppt (File)

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L2 A refresher on LTI systems

• L2 LTI systems NN4OC (File)
• L2 LTI systems NN4OC - annotated (File)
• L2 Appendix: additional background on reachability and observability (File)

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L3 Feedback control of LTI systems

• L3 Feedback control LTI systems NN4OC (File)
• L3 Feedback control LTI systems NN4OC annotated (File)

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L4 Youla parametrization for LTI systems

• L4 Youla parametrization for LTI systems NN4OC (File)
• L4 Youla parametrization for LTI systems NN4OC annotated (File)

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L5 IMC parametrization of all stability-preserving controllers for nonlinear systems

• L5 PB 1 intro IMC parametrization NN4OC (File)
• L5 PB 1 intro IMC parametrization NN4OC annotated (File)

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L6 Robustness of IMC controllers

• L6 PB 2 Robustnes NN4OC 2 (File)
• L6 PB 2 Robustnes NN4OC 2 annotated (File)

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L7 Performance boosting through nonlinear optimal control

• L7 PB 3 NOC NN4OC display from ppt (File)

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L8 Introduction to NN model for performance boosting

• L8 NNmodels 0 introduction NN4OC (File)

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L9 Introduction to NNs and backpropagation

• L9 NN intro NN4OC (File)
• L9 NN intro NN4OC annotated (File)

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L10 Gradient descent and projected gradient descent

• L10 GD and PGD NN4OC (File)
• L10 GD and PGD NN4OC annotated (File)

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L11 introduction to Linear Matrix Inequalities (LMIs)

• L11 LMI intro NN4OC (File)
• L11 LMI intro NN4OC annotated (File)

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L12 Dissipativity theory

• L12 Dissipativity (File)
• L12 Dissipativity with examples (File)

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L13 NN models of Lp operators: Recurrent Equilibrium Networks

• L13 NNModels 1 RENs NN4OC (File)
• L13 NNModels 1 RENs NN4OC annotated (File)

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L14 NN models of Lp operators: State-Space Models (SSMs)

• L14 SSM NN4OC (File)

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L15 NN models of Lp operators: Lipschitz-bounded MLPs

• L15 Lipschitz bounded MLP neural networks (File)
• L15 Lipschitz bounded MLP neural networks annotated (File)

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L16 NN models of Lp operators: Invertible layers

• L16 Coupling Layers (File)

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L17 Distributed Performance Boosting

• L17 Distributed PB1 - Interconnection of dissipative systems (File)
• L17 Distributed PB1 - Interconnection of dissipative systems plus notes (File)
• L17 PB2 - Parametrization Interconnected operators (File)

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L18 Conclusions

• L18 conclusions (File)

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Exercise sessions

• Exercise sessions (File)
• Exercise sessions solution (File)

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