Notes from various courses
SC 618 - Analytic and geometric dynamics
Rigid body stability and Casimirs
SC 624 - Differential geometric techniques in control
Left and right invariant vector fields
SC 602 - Control of nonlinear dynamical systems
SC 201 - Mathematical structures for systems and control
sc201_notes_in_preparation
A module titled - Robotics, Geometry and Control - delivered at the HYCON school in Paris, Feb 2008.
Slides on geometry, mechanics, connections and bundles
geom_mech_conn_bundles
A geometric approach to the modeling and control of mechanical systems, 8 lectures delivered at the
Institute of Automatic Control, Technical University of Munich, Germany. (June 1st to June 30th, 2013.)
Lecture slides, 1, 2, Lecture slides 3, 4, Lecture slides 5, 6, Lecture slides 7, 8.
Optimal Control, Lectures delivered at ISRO, Thiruvananthapuram (Dec 16th to 18th, 2014.)
Lecture slides