SEE

Linear Systems and Optimization |
Introduction to Linear Dynamical Systems

Instructor: Boyd, Stephen

(return to course)

Course Meetings: 20

Lecture 1    View Now >

1 hr 17 min

  • Topics: Overview Of Linear Dynamical Systems, Why Study Linear Dynamical Systems?, Examples Of Linear Dynamical Systems, Estimation/Filtering Example, Linear Functions And Examples
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Lecture 2    View Now >

1 hr 6 min

  • Topics: Linear Functions (Continued), Interpretations Of Y=Ax, Linear Elastic Structure, Example, Total Force/Torque On Rigid Body Example, Linear Static Circuit Example, Illumination With Multiple Lamps Example, Cost Of Production Example, Network Traffic And Flow Example, Linearization And First Order Approximation Of Functions
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Lecture 3    View Now >

1 hr 19 min

  • Topics: Linearization (Continued), Navigation By Range Measurement, Broad Categories Of Applications, Matrix Multiplication As Mixture Of Columns, Block Diagram Representation, Linear Algebra Review, Basis And Dimension, Nullspace Of A Matrix
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Lecture 4    View Now >

1 hr 14 min

  • Topics: Nullspace Of A Matrix(Continued), Range Of A Matrix, Inverse, Rank Of A Matrix, Conservation Of Dimension, 'Coding' Interpretation Of Rank, Application: Fast Matrix-Vector Multiplication, Change Of Coordinates, (Euclidian) Norm, Inner Product, Orthonormal Set Of Vectors
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Lecture 5    View Now >

1 hr 15 min

  • Topics: Orthonormal Set Of Vectors, Geometric Interpretation, Gram-Schmidt Procedure, General Gram-Schmidt Procedure, Applications Of Gram-Schmidt Procedure, 'Full' QR Factorization, Orthogonal Decomposition Induced By A, Least-Squares
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Lecture 6    View Now >

1 hr 16 min

  • Topics: Least-Squares, Geometric Interpretation, Least-Squares (Approximate) Solution, Projection On R(A), Least-Squares Via QR Factorization, Least-Squares Estimation, Blue Property, Navigation From Range Measurements, Least-Squares Data Fitting
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Lecture 7    View Now >

1 hr 16 min

  • Topics: Least-Squares Polynomial Fitting, Norm Of Optimal Residual Versus P, Least-Squares System Identification, Model Order Selection, Cross-Validation, Recursive Least-Squares, Multi-Objective Least-Squares
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Lecture 8    View Now >

1 hr 16 min

  • Topics: Multi-Objective Least-Squares, Weighted-Sum Objective, Minimizing Weighted-Sum Objective, Regularized Least-Squares, Laplacian Regularization, Nonlinear Least-Squares (NLLS), Gauss-Newton Method, Gauss-Newton Example, Least-Norm Solutions Of Undetermined Equations
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Lecture 9    View Now >

1 hr 9 min

  • Topics: Least-Norm Solution, Least-Norm Solution Via QR Factorization, Derivation Via Langrange Multipliers, Example: Transferring Mass Unit Distance, Relation To Regularized Least-Squares, General Norm Minimization With Equality Constraints, Autonomous Linear Dynamical Systems, Block Diagram
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Lecture 10    View Now >

1 hr 12 min

  • Topics: Examples Of Autonomous Linear Dynamical Systems, Finite-State Discrete-Time Markov Chain, Numerical Integration Of Continuous System, High Order Linear Dynamical Systems, Mechanical Systems, Linearization Near Equilibrium Point, Linearization Along Trajectory
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Lecture 11    View Now >

1 hr 9 min

  • Topics: Solution Via Laplace Transform And Matrix Exponential, Laplace Transform Solution Of X_^ = Ax, Harmonic Oscillator Example, Double Integrator Example, Characteristic Polynomial, Eigenvalues Of A And Poles Of Resolvent, Matrix Exponential, Time Transfer Property
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Lecture 12    View Now >

1 hr 14 min

  • Topics: Time Transfer Property, Piecewise Constant System, Qualitative Behavior Of X(T), Stability, Eigenvectors And Diagonalization, Scaling Interpretation, Dynamic Interpretation, Invariant Sets, Summary, Markov Chain (Example)
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Lecture 13    View Now >

1 hr 13 min

  • Topics: Markov Chain (Example), Diagonalization, Distinct Eigenvalues, Digaonalization And Left Eigenvectors, Modal Form, Diagonalization Examples, Stability Of Discrete-Time Systems, Jordan Canonical Form, Generalized Eigenvectors
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Lecture 14    View Now >

1 hr 18 min

  • Topics: Jordan Canonical Form, Generalized Modes, Cayley-Hamilton Theorem, Proof Of C-H Theorem, Linear Dynamical Systems With Inputs & Outputs, Block Diagram, Transfer Matrix, Impulse Matrix, Step Matrix
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Lecture 15    View Now >

1 hr 9 min

  • Topics: DC Or Static Gain Matrix, Discretization With Piecewise Constant Inputs, Causality, Idea Of State, Change Of Coordinates, Z-Transform, Symmetric Matrices, Quadratic Forms, Matrix Nom, And SVD, Eigenvalues Of Symmetric Matrices, Interpretations Of Eigenvalues Of Symmetric Matrices, Example: RC Circuit
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Lecture 16    View Now >

1 hr 13 min

  • Topics: RC Circuit (Example), Quadratic Forms, Examples Of Quadratic Form, Inequalities For Quadratic Forms, Positive Semidefinite And Positive Definite Matrices, Matrix Inequalities, Ellipsoids, Gain Of A Matrix In A Direction, Matrix Norm, Properties Of Matrix Norm
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Lecture 17    View Now >

1 hr 17 min

  • Topics: Gain Of A Matrix In A Direction, Singular Value Decomposition, Interpretations, Singular Value Decomposition (SVD) Applications, General Pseudo-Inverse, Pseudo-Inverse Via Regularization, Full SVD, Image Of Unit Ball Under Linear Transformation, SVD In Estimation/Inversion, Sensitivity Of Linear Equations To Data Error
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Lecture 18    View Now >

1 hr 15 min

  • Topics: Sensitivity Of Linear Equations To Data Error, Low Rank Approximations, Distance To Singularity, Application: Model Simplification, Controllability And State Transfer, State Transfer, Reachability, Reachability For Discrete-Time LDS
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Lecture 19    View Now >

1 hr 10 min

  • Topics: Reachability, Controllable System, Lest-Norm Input For Reachability, Minimum Energy Over Infinite Horizon, Continuous-Time Reachability, Impulsive Inputs, Least-Norm Input For Reachability
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Lecture 20    View Now >

1 hr 9 min

  • Topics: Continuous-Time Reachability, General State Transfer, Observability And State Estimation, State Estimation Set Up, State Estimation Problem, Observability Matrix, Least-Squares Observers, Some Parting Thoughts..., Linear Algebra, Levels Of Understanding, What's Next
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*Segments of this lecture have been edited out due to copyright restrictions.

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