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Awesome Control Theory awesome-badge

Control theory is a branch of applied mathematics that deals with the design of control policies for actuated dynamical systems. Control engineering is a cross-discipline field that applies control theory to a wide range of systems such as industrial plants, aerospace, robotics and more.

The Map of Control Theory by Brian Douglas

Map by Brian Douglas

Contents

Resources

Except for some of the books, all resources provided here should be free, available online and should not require logging in to any service. All credit goes to the awesome authors of these resources.

If you know some awesome free control resources that deserve to be on this list, feel free to post them in this issue or make a pull-request. See contribution guidelines.

Start with this: For a great historical background and introduction to control, you should definitely read Karl J. Åstrøm and P.R. Kumar, 2014, Control: A perspective (if you don't have access to the paper through this link, Google for the pdf). A presentation on the same topic can be found on YouTube here.

Books

Title Author Topic Year
Feedback Systems: An Introduction for Scientists and Engineers (free online) Karl Johan Åstrøm and R. Murry Control 2020
Control Theory, 2nd Edition J.R. Leigh Control 2004
The Fundamentals of Control Theory (free online) Brian Douglas Control 2019
Underactuated Robotics (free online) Russ Tedrake Control 2020
Nonlinear Dynamics and Chaos Steven Strogatz Nonlinear dynamics 2014
Nonlinear Systems Hassan K. Khalil Nonlinear control 2002
Optimal Control Theory: An Introduction Donald Kirk Optimal control 2012
Merging Optimization and Control (free online) Bjarne Foss & Tor Aksel Heirung Optimal control 2013
Dynamic Programming and Optimal Control Dimitri Bertsekas Optimal Control 2017
Robust Adaptive Control (free online) Ioannou P. and J. Sun Control 1996
A Mathematical Introduction to Robotic Manipulation (free online) Richard M. Murray et. al Robotics
Robot Modeling and Control Mark W. Spong Robotics 2005
Controls Engineering in the FIRST Robotics Competition (free online) Tyler Veness Robotics 2022

Websites and YouTube channels

These authors cover multiple topics in control on their websites and/or YouTube channels.

Free course material and YouTube playlists

While this list is somewhat in chronological learning order, many of the courses/playlists advance beyond topics lower down the list as you work through them. So don't get too caught up in the ordering here.

Resource Author Topic Type
Control bootcamp Steve Brunton Control YouTube playlist
Classical Control Theory Brian Douglas Control YouTube playlist
Control Systems in Practice Brian Douglas Control YouTube playlist
APMonitor: Process dynamics and control John Hedengren Control Online course
Modelling and simulation of dynamical systems aa4cc Modelling and simulation YouTube playlist
Trimming and linearization Brian Douglas Modelling and simulation YouTube playlist
Understanding PID Control Brian Douglas Control YouTube playlist
Quadcopter simulation and control Brian Douglas Control YouTube playlist
State Space Control Brian Douglas Control YouTube playlist
Understanding Kalman filter MATLAB State estimation YouTube playlist
Sensor Fusion and Tracking Brian Douglas State estimation YouTube playlist
Cornell MAE: Nonlinear dynamics and chaos Steven Strogatz Nonlinear dynamics YouTube playlist
MIT: Nonlinear systems Jean-Jaques Slotine Nonlinear dynamics YouTube playlist
Nonlinear Control Systems Topperly Nonlinear control YouTube playlist
ITK NTNU: Nonlinear Control Systems Kristin Y. Pettersen Nonlinear control YouTube playlist
MIT 6.832: Underactuated Robotics (slides, videos, online book) Russ Tedrake Nonlinear control University course
Robust control Brian Douglas Robust control YouTube playlist
Optimal and robust control aa4cc Optimal and robust control YouTube playlist
Autonomous navigation Brian Douglas Robotics YouTube playlist
Georgia Tech: Robot control Corsera (2013) Magnus Egerstedt Robotics YouTube playlist
Berkeley CS287: Advanced Robotics (slides, videos) Pieter Abbeel Robotics University course
Data-driven control with machine learning Steve Brunton Data-driven control YouTube playlist

Bonus: MIT OpenCourseWare offers free online courses. Here are their courses tagged with Control.

Tutorials

Tools

Software, toolboxes and libraries

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