├── README.md ├── lectures ├── 01ex_systemTheoryBasics.pdf ├── 02_unconstrainedControl.pdf ├── 03_optimization.pdf ├── 04_CFTOC.pdf ├── 04_cftoc_wnotes.pdf ├── 05_invariance.pdf ├── 05_invariance_wnotes_v2.pdf └── 06_feasibilitystability_wnotes.pdf └── project ├── compute_X_LQR.asv ├── compute_X_LQR.m ├── compute_controller_base_parameters.m ├── controller_lqr.asv ├── controller_lqr.m ├── controller_mpc_1.asv ├── controller_mpc_1.m ├── controller_mpc_1_forces.m ├── controller_mpc_2.m ├── controller_mpc_3.m ├── controller_mpc_4.m ├── controller_mpc_5.m ├── image ├── infeasibleinit.jpg ├── lqrchangeinitialpoint.jpg ├── lqrdesign.jpg ├── mpc1T2.jpg ├── mpc2T1.jpg ├── mpc3T1.jpg ├── mpc3T1S2.jpg ├── mpc3T2.jpg ├── mpc4T2.jpg ├── mpc4T3.jpg ├── mpc5T1.jpg ├── mpc5T1S2.jpg ├── mpcT1.jpg └── mpcT2.jpg ├── mpc_project.pdf ├── project_description_v1.pdf ├── run_simulations.m ├── slblocks.m ├── solver_name.m └── system ├── parameters_scenarios.mat ├── parameters_truck.mat └── simulate_truck.p 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