zeinbarhoum / modern-control-systems

This repository contains the code and models I developed during my Modern Control Systems course at ITMO University.

Modern-Control-Systems

This repository contains the code and models I developed during my Modern Control Systems course at ITMO University.

The cource was devided into 3 parts which are:

1. Adaptive and Robust control: in this part, 4 types of controllers were implemented which are:

• Adaptive controller
• Robust controller (with high gain feedback)
• Adaptive controller with robust modification (Adaptive-Robust controller)
• Output feedback adaptive control using the augmented error approach

2. Optimal control: in this part, an LQR controller was implemented to optimize a specific objective.
3. Trajectory control: in this part, three algorithms for stabilizing the motion of a robot(dynamic system) on a specific path (2D and 3D) were implemented.

All lab works were implemented using MATLAB/Simulink and the reports for each lab are included in the respective directories.