Course Outline  
Lecture (CSI 2120):  MW 5:006:15 p.m. P. S. Krishnaprasad 
Office Hours (AVW 2233):  M 6:308:00 pm; Tu 5:107:00 pm 
Special Announcements (in reverse chronological order)11.10. 9. 8. 7. 6. 5. 4. A mistake in problem 2 homework 2  it should have read, from initial (x = 0, y = 0, \theta = \pi/2) to final (x=1, y = 0, \theta = \pi/2). I switched the final coordinates for x and y in the original. 3. 2. 1. A first set of lecture notes and references has been posted  TO BE REVISED 

My lecture notes on Optimal Control (ENEE 664)
My lecture notes on (Linear) System Theory (ENEE 660)
Website for Feedback Systems: An Introduction for Scientists and Engineers by K. J. Astrom and R. M. Murray Online readable book
Notes on Lie Algebras by Hans Samelson A classic
Roger Howe's 1983 paper (Very basic Lie theory); corrections to Howe's paper (1984)
Paper by Wei and Norman on product of exponentials representation (1964)
Motion, Control and Geometry Four expository articles illustrating nonlinear control in action
Two classic papers by Roger Brockett Lie Algebras and Lie Groups in Control Theory (1973) and Nonlinear Systems and Differential Geometry (1976)
Real Analysis Book by Cinlar and Vanderbei  material useful in Systems courses
About Sophus Lie
About Stefan Banach
About A. M. Lyapunov
About G. D. Birkhoff
