# Control Engineering for Robotics

- Institution: IIT Guwahati
- Department: Electrical Engineering
- Teacher: Prof. Chayan Bhawal
- Level: Undergraduate
- Language: English
- Subjects: Engineering
- Source: [NPTEL](https://nptel.ac.in/courses/108103863)
- Licence: [CC BY-NC-SA](https://nptel.ac.in/faq) (Non-commercial use only.)
- Syllabus: [at the source](https://nptel.ac.in/courses/108103863)
- Who can watch: Tweens profiles and older (sources give no ratings; placed by Invisible Network from the source's own words)

## Lectures

1. [Lec 1: Signals and Systems](https://invisiblenetwork.ai/learn/nptel/108103863/379b419a0e69) (Video)
2. [Lec 2: Types of Systems](https://invisiblenetwork.ai/learn/nptel/108103863/3e0360a615ef) (Video)
3. [Lec 3: Differential equation of a system](https://invisiblenetwork.ai/learn/nptel/108103863/290ffce3e66f) (Video)
4. [Lec 4: Differential equation of an LTI system](https://invisiblenetwork.ai/learn/nptel/108103863/bc315a2db359) (Video)
5. [Lec 5: Laplace Transform](https://invisiblenetwork.ai/learn/nptel/108103863/f01144853119) (Video)
6. [Lec 6: Finding response using transfer function](https://invisiblenetwork.ai/learn/nptel/108103863/49959c63325c) (Video)
7. [Lec 7: Finding transfer functions - examples](https://invisiblenetwork.ai/learn/nptel/108103863/53b9e4f21efb) (Video)
8. [Lec 8: Finding transfer functions - experimentally](https://invisiblenetwork.ai/learn/nptel/108103863/c7fe4398b8c1) (Video)
9. [Lec 9: Natural Response of a system](https://invisiblenetwork.ai/learn/nptel/108103863/a52390481aa3) (Video)
10. [Lec 10: Forced Response of a system](https://invisiblenetwork.ai/learn/nptel/108103863/bbd0bc26990b) (Video)
11. [Lec 11: Introduction to Bode Plots](https://invisiblenetwork.ai/learn/nptel/108103863/04855d166071) (Video)
12. [Lec 12: Bode Plots Continued](https://invisiblenetwork.ai/learn/nptel/108103863/ae4ebd5a4e4e) (Video)
13. [Lec 13: Finding transfer function from frequency response](https://invisiblenetwork.ai/learn/nptel/108103863/5b45fa5fdd0d) (Video)
14. [Lec 14: Configuration of a control system](https://invisiblenetwork.ai/learn/nptel/108103863/e5a83aab2bea) (Video)
15. [Lec 15: Time domain analysis of standard system - I](https://invisiblenetwork.ai/learn/nptel/108103863/3bbfed2783b3) (Video)
16. [Lec 16: Time domain analysis of standard system - II](https://invisiblenetwork.ai/learn/nptel/108103863/5ee60517a3e1) (Video)
17. [Lec 17: Time domain analysis of standard system - III](https://invisiblenetwork.ai/learn/nptel/108103863/d2b52c04ca8a) (Video)
18. [Lec 18: Time-domain specifications of second order systems](https://invisiblenetwork.ai/learn/nptel/108103863/d2f8203f00c0) (Video)
19. [Lec 19: Effect of poles and zeros on time-domain response](https://invisiblenetwork.ai/learn/nptel/108103863/d3f9cab0fca9) (Video)
20. [Lec 20: Steady state error](https://invisiblenetwork.ai/learn/nptel/108103863/edaaada74704) (Video)
21. [Lec 21: Introduction to Root Locus](https://invisiblenetwork.ai/learn/nptel/108103863/86c820d83c9e) (Video)
22. [Lec 22: Rules to draw Root Locus - I](https://invisiblenetwork.ai/learn/nptel/108103863/e3f51d3a4394) (Video)
23. [Lec 23: Rules to draw Root Locus - II](https://invisiblenetwork.ai/learn/nptel/108103863/a095b24ef879) (Video)
24. [Lec 24: Stability](https://invisiblenetwork.ai/learn/nptel/108103863/99e1a60200c1) (Video)
25. [Lec 25: Routh Hurwitz Criteron](https://invisiblenetwork.ai/learn/nptel/108103863/6b296853c69a) (Video)
26. [Lec 26: Observations on controller design using Root Locus](https://invisiblenetwork.ai/learn/nptel/108103863/9897a80f142c) (Video)
27. [Lec 27: Controller design using Root Locus - I](https://invisiblenetwork.ai/learn/nptel/108103863/5279997acdab) (Video)
28. [Lec 28: Controller design using Root Locus - II](https://invisiblenetwork.ai/learn/nptel/108103863/fe75d07aad86) (Video)
29. [Lec 29: Controller design using Root Locus - III](https://invisiblenetwork.ai/learn/nptel/108103863/25be19ebeafa) (Video)
30. [Lec 30: Controller design using Root Locus - IV](https://invisiblenetwork.ai/learn/nptel/108103863/e6481bae3d63) (Video)
31. [Lec 31: Introduction to PID controllers](https://invisiblenetwork.ai/learn/nptel/108103863/b4d8148f606f) (Video)
32. [Lec 32: PID Controller Tuning](https://invisiblenetwork.ai/learn/nptel/108103863/4556d9deead5) (Video)
33. [Lec 33: Implementation of PID controllers](https://invisiblenetwork.ai/learn/nptel/108103863/0c66778027c5) (Video)
34. [Lec 34: PID in action for systems](https://invisiblenetwork.ai/learn/nptel/108103863/ad9fa3cb4c27) (Video)
35. [Lec 35: State-space modelling of system - I](https://invisiblenetwork.ai/learn/nptel/108103863/1848c116781a) (Video)
36. [Lec 36: State-space modelling of system - II](https://invisiblenetwork.ai/learn/nptel/108103863/1bb8517d0c73) (Video)
37. [Lec 37: State-space and transfer function](https://invisiblenetwork.ai/learn/nptel/108103863/b2cb00da65d6) (Video)
38. [Lec 38: State-space equation to transfer function](https://invisiblenetwork.ai/learn/nptel/108103863/1d2ba79a7350) (Video)
39. [Lec 39: Solution of a state-space equation](https://invisiblenetwork.ai/learn/nptel/108103863/b8d794c67f6e) (Video)
40. [Lec 40: Finding matrix exponential](https://invisiblenetwork.ai/learn/nptel/108103863/fc81b8ccc395) (Video)
41. [Lec 41: Cayley-Hamilton Theorem](https://invisiblenetwork.ai/learn/nptel/108103863/90a8b48cd6c2) (Video)
42. [Lec 42: Diagonal forms and matrix exponential](https://invisiblenetwork.ai/learn/nptel/108103863/94fbdc5bbdc1) (Video)
43. [Lec 43: Jordan forms and matrix exponential - I](https://invisiblenetwork.ai/learn/nptel/108103863/eb67023664cb) (Video)
44. [Lec 44: Jordan forms and matrix exponential - II](https://invisiblenetwork.ai/learn/nptel/108103863/19a7e4aad15f) (Video)
45. [Lec 45: Linear Algebra for system theory](https://invisiblenetwork.ai/learn/nptel/108103863/d2eb553d6df8) (Video)
46. [Lec 46: Controllability](https://invisiblenetwork.ai/learn/nptel/108103863/2eb1627fb084) (Video)
47. [Lec 47: How to check for controllability?](https://invisiblenetwork.ai/learn/nptel/108103863/2fc787ae3831) (Video)
48. [Lec 48: State-feedback controller - I](https://invisiblenetwork.ai/learn/nptel/108103863/4c45ffdc532b) (Video)
49. [Lec 49: State-feedback controller - II](https://invisiblenetwork.ai/learn/nptel/108103863/0864962b9744) (Video)
50. [Lec 50: Controllability Canonical Form](https://invisiblenetwork.ai/learn/nptel/108103863/406e55eacc8c) (Video)
51. [Lec 51: State-feedback for uncontrollable systems](https://invisiblenetwork.ai/learn/nptel/108103863/ec95b3b8dea5) (Video)
52. [Lec 52: State-feedback control for MIMO Systems](https://invisiblenetwork.ai/learn/nptel/108103863/57cd330787d7) (Video)
53. [Lec 53: State-feedback with reference scaling](https://invisiblenetwork.ai/learn/nptel/108103863/20a596bc8163) (Video)
54. [Lec 54: Observability and Observers](https://invisiblenetwork.ai/learn/nptel/108103863/5ee29e1d205b) (Video)
55. [Lec 55: Observer Based Controller](https://invisiblenetwork.ai/learn/nptel/108103863/3c07aa8232ad) (Video)
56. [Lec 56: Decomposition of State-space](https://invisiblenetwork.ai/learn/nptel/108103863/3b34804c9771) (Video)
57. [Lec 57: Optimal Control Problems](https://invisiblenetwork.ai/learn/nptel/108103863/7d82457ed1ad) (Video)
58. [Lec 58: LQR Control Problem](https://invisiblenetwork.ai/learn/nptel/108103863/d8eac50f19e4) (Video)
59. [Lec 59: Examples of LQR Control Problem](https://invisiblenetwork.ai/learn/nptel/108103863/f0e9a0ac49fc) (Video)
60. [Lec 60: Two-Link Robotic Manipulator](https://invisiblenetwork.ai/learn/nptel/108103863/0423c52b9aa1) (Video)
61. [Lec 61: Control of Two-Link Robotic Manipulator](https://invisiblenetwork.ai/learn/nptel/108103863/aa422956f8a4) (Video)
62. [Lec 62: Working of a quadrotor](https://invisiblenetwork.ai/learn/nptel/108103863/634a784fe420) (Video)
63. [Lec 63: Quadrotor Control - I](https://invisiblenetwork.ai/learn/nptel/108103863/6ea60a708276) (Video)
64. [Lec 64: Quadrotor Control - II](https://invisiblenetwork.ai/learn/nptel/108103863/03dbdc45f498) (Video)
65. [Lec 65: Implementation of state-feedback control](https://invisiblenetwork.ai/learn/nptel/108103863/da6840a12927) (Video)
66. [Lec 66: Conclusion](https://invisiblenetwork.ai/learn/nptel/108103863/6c30ed407ad6) (Video)