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A Brief History of Event-Based Control Marcus T. Andrén Department of Automatic Control Lund University Marcus T. Andrén A Brief History of Event-Based Control Concept of Event-Based Example with impulse control [Åström & Bernhardsson, 1999] Periodic Sampling Event-Based Sampling Event-Based: Trigger sampling and actuation based on signal property, e.g |x(t )| >δ (Lebesgue sampling) A.k.a aperiodi
History of Robotics History of Robotics Martin Karlsson Dept. Automatic Control, Lund University, Lund, Sweden November 25, 2016 Martin Karlsson November 30, 2016 1 / 14 Outline Introduction What is a robot? Early ideas The first robots Modern robots Major organizations Ubiquity of robots Future challenges Martin Karlsson November 30, 2016 2 / 14 Introduction The presenter performs research in rob
Lecture 3. The maximum principle In the last lecture, we learned calculus of variation (CoV). The key idea of CoV for the minimization problem min u∈U J(u) can be summarized as follows. 1) Assume u∗ is a minimizer, and choose a one-parameter variation uϵ s.t. u0 = u∗ and uϵ ∈ U for ϵ small. 2) The function ϵ 7→ J(uϵ) has a minimizer at ϵ = 0. Thus it satisfies the first and second order necessary
https://www.control.lth.se/fileadmin/control/Education/DoctorateProgram/Optimal_Control/2023/Lecture3.pdf - 2025-07-25
Exercise for Optimal control – Week 1 Choose two problems to solve. Disclaimer This is not a complete solution manual. For some of the exercises, we provide only partial answers, especially those involving numerical problems. If one is willing to use the solution manual, one should judge whether the solutions are correct or wrong him/herself. Exercise 1 (Fundamental lemma of CoV). Let f be a real
https://www.control.lth.se/fileadmin/control/Education/DoctorateProgram/Optimal_Control/2023/ex1-sol.pdf - 2025-07-25
Exercise for Optimal control – Week 2 Choose one problem to solve. Exercise 1 (Insect control). Let w(t) and r(t) denote, respectively, the worker and reproductive population levels in a colony of insects, e.g. wasps. At any time t, 0 ≤ t ≤ T in the season the colony can devote a fraction u(t) of its effort to enlarging the worker force and the remaining fraction u(t) to producing reproductives. T
https://www.control.lth.se/fileadmin/control/Education/DoctorateProgram/Optimal_Control/2023/ex2.pdf - 2025-07-25
Exercise for Optimal control – Week 3 Choose 1.5 problems to solve. Disclaimer This is not a complete solution manual. For some of the exercises, we provide only partial answers, especially those involving numerical problems. If one is willing to use the solution manual, one should judge whether the solutions are correct or wrong by him/herself. Exercise 1. Consider a harmonic oscillator ẍ + x =
https://www.control.lth.se/fileadmin/control/Education/DoctorateProgram/Optimal_Control/2023/ex3-sol.pdf - 2025-07-25
Exercise for Optimal control – Week 5 Choose one problem to solve. Exercise 1. Use tent method to derive the KKT condition (google it if you don’t know) for the nonlinear optimization problem: min f(x) subject to gi(x) ≤ 0, i = 1, · · · ,m hj(x) = 0, j = 1, · · · , l where f , gi, hj are continuously differentiable real-valued functions on Rn. Exercise 2. Find a variation of inputs uϵ near u∗ that
https://www.control.lth.se/fileadmin/control/Education/DoctorateProgram/Optimal_Control/2023/ex4.pdf - 2025-07-25
Exercise for Optimal control – Week 6 Choose 1.5 problems to solve. Exercise 1. Derive the policy iteration scheme for the LQR problem min u(·) ∞∑ k=1 x⊤ k Qxk + u⊤ k Ruk with Q = Q⊤ ≥ 0 and R = R⊤ > 0 subject to: xk+1 = Axk +Buk. Assume the system is stabilizable. Start the iteration with a stabilizing policy. Run the policy iteration and value iteration on a computer for the following matrices:
https://www.control.lth.se/fileadmin/control/Education/DoctorateProgram/Optimal_Control/2023/ex6.pdf - 2025-07-25
5 Lecture 5. Proof of the maximum principle 5.1 The tent method We continue with the static nonlinear optimization problem: min g0(x) subject to gi(x) ≤ 0, i = 1, · · · ,m (LM) in which {gi}mi=0 ∈ C1(Rn;R). Suppose that the problem is feasible, i.e., there exists an admissible x∗ which minimizes g0(x). Recall that we defined the following sets: Ωi = {x ∈ Rn : gi(x) ≤ 0}, i = 1, · · · ,m and for x1
https://www.control.lth.se/fileadmin/control/Education/DoctorateProgram/Optimal_Control/2023/lec5.pdf - 2025-07-25
7 Lecture 7. Dynamic programming II 7.1 Policy iteration In previous lecture, we studied dynamic programming for discrete time systems based on Bellman’s principle of optimality. We studied both finite horizon cost J = φ(xN ) + N−1∑ k=1 Lk(xk, uk), uk ∈ Uk and infinite horizon cost J = ∞∑ k=1 L(xk, uk), uk ∈ U(xk). The key ingredients we obtained were the Bellman equations. For finite horizon, J∗
https://www.control.lth.se/fileadmin/control/Education/DoctorateProgram/Optimal_Control/2023/lec7.pdf - 2025-07-25
PowerPoint Presentation Advanced Policy Gradients CS 285: Deep Reinforcement Learning, Decision Making, and Control Sergey Levine Class Notes 1. Homework 2 due today (11:59 pm)! • Don’t be late! 2. Homework 3 comes out this week • Start early! Q-learning takes a while to run Today’s Lecture 1. Why does policy gradient work? 2. Policy gradient is a type of policy iteration 3. Policy gradient as a c
Lund University Department of Archaeology and Ancient History _______________________________________________________________________________________________________________________________________________________ Reading list – ARKN10, Digital Archaeology, Virtual Reality in Archaeology, 15 hp Approved by the Department Board: 2022-10-25 The literature is available through LUBcat and/or LUBsearch
https://www.ht.lu.se/media/utbildning/dokument/kurser/ARKN10/20241/ARKN10_reading_list_221025.pdf - 2025-07-25
Publications | Division of Physical Chemistry Faculty of Science Search Division of Physical Chemistry Department of Chemistry Department of Chemistry Kemicentrum Safety and security Contact About Education Master/Bachelor-Projects News and events Research People Instruments COMMONS Center Center for Scattering Methods Home > People > Senior Scientists > Daniel Topgaard > Publications Denn
https://www.physchem.lu.se/people/seniors/topgaard/pubs/news/ - 2025-07-25
The skin as a barrier to molecular diffusion | Division of Physical Chemistry Faculty of Science Search Division of Physical Chemistry Department of Chemistry Department of Chemistry Kemicentrum Safety and security Contact About Education Master/Bachelor-Projects News and events Research People Instruments COMMONS Center Center for Scattering Methods Home > Research > Colloidal biology > The
https://www.physchem.lu.se/research/colloidal-biology/skin-barrier/news/ - 2025-07-25
Interactions and phase behavior of aqueous colloid – polymer mixtures and the influence of charges | Division of Physical Chemistry Faculty of Science Search Division of Physical Chemistry Department of Chemistry Department of Chemistry Kemicentrum Safety and security Contact About Education Master/Bachelor-Projects News and events Research People Instruments COMMONS Center Center for Scattering M
https://www.physchem.lu.se/research/modelsystems/phase-behavior-of-aqueous-colloid/news/ - 2025-07-25
Fair and Efficient Justice Archives - Page 4 of 12 - The Raoul Wallenberg Institute of Human Rights and Humanitarian Law Skip to content Search for: Search Button Home About Us Who We Are Our History About Raoul Wallenberg Our Theory of Change Staff Opportunities Annual Reports Whistleblower Our work What we do Multi-Disciplinary Research Higher Education Strategic Advice and Analysis Outreach Eva
https://rwi.lu.se/category/fair-and-efficient-justice/page/4/ - 2025-07-25
Human Rights Education Archives - Page 6 of 10 - The Raoul Wallenberg Institute of Human Rights and Humanitarian Law Skip to content Search for: Search Button Home About Us Who We Are Our History About Raoul Wallenberg Our Theory of Change Staff Opportunities Annual Reports Whistleblower Our work What we do Multi-Disciplinary Research Higher Education Strategic Advice and Analysis Outreach Evaluat
https://rwi.lu.se/category/human-rights-education/page/6/ - 2025-07-25
NHRI Archives - The Raoul Wallenberg Institute of Human Rights and Humanitarian Law Skip to content Search for: Search Button Home About Us Who We Are Our History About Raoul Wallenberg Our Theory of Change Staff Opportunities Annual Reports Whistleblower Our work What we do Multi-Disciplinary Research Higher Education Strategic Advice and Analysis Outreach Evaluation of Programme Work Methods Foc
https://rwi.lu.se/category/nhri/ - 2025-07-25
About | Division of Physical Chemistry Faculty of Science Search Division of Physical Chemistry Department of Chemistry Department of Chemistry Kemicentrum Safety and security Contact About Education Master/Bachelor-Projects News and events Research People Instruments COMMONS Center Center for Scattering Methods Home > About Denna sida på svenska This page in English About Research at the divisi
https://www.physchem.lu.se/about/news/about/about/contact/news/ - 2025-07-25
Research school | Division of Physical Chemistry Faculty of Science Search Division of Physical Chemistry Department of Chemistry Department of Chemistry Kemicentrum Safety and security Contact About Education Master/Bachelor-Projects News and events Research People Instruments COMMONS Center Center for Scattering Methods Home > COMMONS Center > Research school Denna sida på svenska This page
https://www.physchem.lu.se/commons/research-school/news/commons/research-school/cryo-em-of-soft-materials/ - 2025-07-25
