ROB 415: Robot Control

Project Status: Completed (A+ in Fall 2025).

For more details, please refer to the syllabus.

Abstract: An application-driven introduction to feedback control for robotic systems, covering classical methods—linearization, time/frequency response, Routh–Hurwitz, transfer functions, root locus, Bode/gain/phase margins, lead/lag/PID—and state-space techniques for multivariable systems (state transition matrix, LQR/LQI, observers/Kalman). Hands-on work in MATLAB/Simulink ties modeling, analysis, and controller design to robotics applications.