Optimal Control and Estimation
MAE 546

Robert Stengel

Princeton University
School of Engineering and Applied Science
Department of Mechanical and Aerospace Engineering
Spring 2015
Tuesday and Thursday, 3-4:20 pm
Engineering Quadrangle

Designing control logic that commands a dynamic system to a desired output or that augments the system's stability is a common objective in many technical fields, ranging from decision-making for economic and social systems through trajectory control for robots and vehicles to the development of optimal therapeutic protocols for treating disease. If the control objective can be expressed as a quantitative criterion, then optimization of this criterion establishes a feasible design for control logic. This course addresses the theory and application of optimal control, including the effects of uncertain inputs (i.e., disturbances) and measurement error.

This year, the course will be offered as a seminar. The course will follow the general outline of previous years and will refer to the 2013 lecture slides (Lecture Slides). However, class discussions will be led by students, all of whom will have reviewed the slides and done the assigned reading. New material, including recent technical papers, will be introduced and discussed. Project-oriented assignments will be suggested and critiqued through the term. The course will be graded on seminar participation and a final paper.

MAE 546 Syllabus

2013 Lecture Slides

Titles of Previous Term Papers


The primary reference for this course is OPTIMAL CONTROL AND ESTIMATION, R. F. Stengel, Dover Publications, 1994. Additional books that are useful for reference include:


http://www.princeton.edu/~stengel/MAE546.html
key words: optimization, optimal control, probability theory, statistics, optimal state estimation, control systems, nonlinear control, adaptive control.
Last updated January 27, 2015.
Copyright 2015 by Robert F. Stengel. All rights reserved.