Main
~~Estimation~~ and Control
~~SISO Linear~~ Control

[[http://apmonitor.com/pdc/index.php/Main/ArduinoEstimation2|Solution]]
~~Lab 6 - ~~SISO Linear Control

~~Lab 10 - ~~Estimation and Control
~~A~~ - [[http://apmonitor.com/pdc/index.php/Main/ArduinoModeling|SISO Model]]

~~B~~ - MIMO Model

~~C~~ - SISO Estimation

~~D~~ - Real-time SISO Estimation

~~E~~ - MIMO Estimation

~~F~~ - MIMO Linear Control

~~G~~ - SISO Nonlinear Control

~~H~~ - MIMO Nonlinear and Discrete Control

[[http://apmonitor.com/pdc/index.php/Main/ArduinoModeling|~~A - ~~SISO Model]]

[[http://apmonitor.com/pdc/index.php/Main/ArduinoModeling|A - SISO Model]]

~~Offline~~ Estimation

~~[[Main/ProjectLab|Progress Report #1: Model Development]]~~

~~Project Help~~
~~SISO 1st Order Model~~

~~SISO Higher Order Model~~

~~MIMO 1st Order Model~~

~~[[Main/EstimatorTypes|Estimators]]~~
[[~~http:~~/~~/apmonitor.com/pdc/index.php/Main/ArduinoTemperatureControl~~|~~In Class Arduino Project~~]]
[[Main/~~MovingHorizonEstimation~~|~~Moving Horizon Estimation~~]]
~~E - ~~[[Main/~~MovingHorizonEstimation~~|~~Parameter and State Estimation~~]]
~~SISO Offline Estimation~~

(:tableend:)

----

(:table border=0 frame=hsides width=95%:)

(:cell width=5%:)

'''Week'''

(:cell width=45%:)

'''Subject'''

(:cell width=25%:)

'''Assignments'''

(:cell width=25%:)

'''Lab / Project'''
~~[[Main/EstimatorObjective|Estimator Objectives]]~~ and ~~[[Main/EstimatorTuning|Tuning]]~~
~~F - ~~[[Main/~~EstimatorObjective~~|~~HIV Estimation]] and [[Main/EstimatorTuning|Estimator Tuning~~]]
~~Estimation Tuning for Improved Control~~
~~G~~ - [[Main/~~EstimatorTypes~~|~~MHE~~ and ~~MPC~~]]
~~Review for ~~[[Main/~~MidtermExam~~|~~Mid-Term Exam~~]]
[[Main/~~MidtermExam~~|~~Mid-term Exam~~]]

~~(~~:~~tableend:)~~

----

(:table border=0 frame=hsides width=95%:)

(:cell width=5%:)

'''#'''

(:cell width=45%:)

'''Subject'''

(:cell width=25%:)

'''Assignments'''

(:cell width=25%:)

'''Arduino Lab'''
~~SISO~~ Control

~~MIMO Linear~~ Control

~~I - ~~[[Main/~~NonlinearControl ~~|~~ PID and Linear MPC~~]]
~~MIMO Linear Control Tuning~~

(:tableend:)

----

(:table border=0 frame=hsides width=95%:)

(:cell width=5%:)

'''Week'''

(:cell width=45%:)

'''Subject'''

(:cell width=25%:)

'''Assignments'''

(:cell width=25%:)

'''Project'''
~~[[Main/ControllerTuning|Controller Tuning]]~~
~~J - ~~[[Main/~~NonlinearControl ~~|~~ Nonlinear MPC~~]]
~~Nonlinear Control~~

~~[[http://apmonitor.com/me575/index.php/Main/InteriorPointMethod|Interior Point Method]] and [[Main/DiscreteVariables|Mixed Integer Nonlinear Programming]]~~
~~K - [[Main/DiscreteVariables|Mixed Integer Nonlinear Programming]]~~
~~Nonlinear and Integer Control~~

~~16~~

(:cell:)

[[Main/MultiObjectiveOptimization|Multi-Objective Optimization]]

(:cell:)

[[Main/ProjectLab|Progress Report #2: Estimation and Data]]

(:cell:)

Estimation and Control

(:cellnr:)

17

(:cell:)

[[Main/FinalExam|Review and Example Problems]]

(:cell:)

[[Main/FinalExam|Practice Final Exam]]

(:cell:)

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18

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[[Main/FinalExam|Final Exam]]

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(:tableend:)

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(:table border=0 frame=hsides width=95%:)

(:cell width=5%:)

'''#'''

(:cell width=45%:)

'''Subject'''

(:cell width=25%:)

'''Assignments'''

(:cell width=25%:)

'''Project'''

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19

(:cell:)

Projects

(:cell:)

(:cell:)

Project Work Session

(:cellnr:)

20

(:cell:)

Projects

(:cell:)

[[Main/ProjectLab|Progress Report #3: Control]]

(:cell:)

Project Work Session

(:cellnr:)

21

(:cell:)

Projects

(:cell:)

(:cell:)

Project Work Session

(:cellnr:)

22

(:cellnr:)

(:cellnr:)

20

(:cellnr:)

20

(:cell:)
~~(:cell:)~~

(:cellnr:)

18

(:cellnr:)

18

(:cell:)
~~Review~~ for ~~[[Main/MidtermExam|Mid-Term Exam]]~~

(:cellnr:)

9
~~[[Main/ArduinoLab|Arduino Modeling and ~~Estimation~~ Report]]~~

(:cellnr:)

11

(:cellnr:)

12

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13

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'''#'''

(:cell width=45%:)

'''Subject'''

(:cell width=25%:)

'''Assignments'''

(:cell width=25%:)

'''Project'''

(:cellnr:)

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(:htmlend:)
[[Main/~~ProjectLab~~|~~Progress Report #2: Estimation and Data~~]]

~~K - Tiered~~ and ~~l1-norm Objective~~
~~Project Work Session~~
~~(:cell width=13%:)~~

'''Date'''
~~Apr 29~~

(:cell:)
~~May 4~~

(:cell:)
~~May 6~~

(:cell:)
~~May 8~~

(:cell:)
~~May 11~~

(:cell:)
~~May 13~~

(:cell:)
~~May 15~~

(:cell:)
~~May 18~~

(:cell:)
~~(:cell width=12%:)~~

May 20
~~May 22~~

(:cell:)
~~May 27~~

(:cell:)
~~May 29~~

(:cell:)
~~Jun 1~~

(:cell:)
~~Jun 3~~

(:cell:)
~~Jun 5~~

(:cell:)
~~Jun 8~~

(:cell:)
~~(:cell width=13%:)~~

Jun 10
~~Jun 12~~

(:cell:)
~~Jun 15~~

(:cell:)
~~(:cell:)~~

Jun 17
~~(:cell:)~~

May 29

(:cell:)

Project Help Session

(:cell:)

Project Work Session

(:cellnr:)

15
~~Real-time Control~~
~~Arduino Control~~

~~Controller Tuning~~
~~Project Progress ~~Report #1: Model Development

~~Project Progress ~~Report #2

~~Project Progress ~~Report #~~3~~
~~Mid-term Exam Work Session~~
~~Controllers (PID, LQR, MPC)~~
~~Linear~~ Control~~ Exercise~~

~~Nonlinear Control~~
~~Reference Trajectory~~, ~~Economic Control~~
~~(:cell:)~~

Practice Mid-term Exam
~~Review~~ and ~~Example Problems~~
~~Arduino Estimation~~
~~Bad Data~~
~~Real-time simulation~~
~~Project Progress Report #3~~

~~Linear Estimation Exercise~~

~~Nonlinear Control Exercise~~

~~Control Case Study~~

~~Practice Final Exam~~
~~[[Main/ModelInitialization|Initialization]] and ~~[[Main/ModelSimulation|Simulation]]
~~Dynamic Simulation~~

~~MATLAB ~~/~~ Python~~

~~[[Main/ModelFormulation|Formulation]] and ~~[[Main/OrthogonalCollocation|Collocation]]
~~Dynamic Data Simulation~~
~~Linear Estimation Exercise~~

~~Data Simulation~~
~~Real-time simulation~~

~~Estimators (EKF, UKF, MHE)~~
~~Controllers (PID, LQR, MPC)~~
~~Dynamic Modeling Introduction~~
~~Programming Languages for Optimization~~
~~Constrained Optimization~~
~~KKT Conditions~~

~~Basic~~ Estimation ~~Example~~

~~Simulators (Data + Dynamic Models)~~
~~Dynamic Optimization and Control~~
~~Basic~~ Control ~~Example~~

~~Control Relevant Modeling~~
~~Model reduction and simplification~~

~~Simulation~~ Case Study

~~Mixed Integer Dynamic Optimization~~
~~Mixed Integer DAEs~~

~~MPC, RTO~~

~~(:tableend:)~~

(:table border=0 frame=hsides width=95%:)

(:tableend:)

(:table border=0 frame=hsides width=95%:)
~~''Week''~~

(:cell:)
~~1~~

(:cell:)
~~2~~

(:cell:)
~~3~~

(:cell:)
~~2~~

(:cell:)
~~5~~

(:cell:)
~~6~~

(:cell:)
~~3~~

(:cell:)
~~8~~

(:cell:)
~~9~~

(:cell:)
~~4~~

(:cell:)
~~11~~

(:cell:)
~~12~~

(:cell:)
~~5~~

(:cell:)
~~14~~

(:cell:)
~~15~~

(:cell:)
~~6~~

(:cell:)
~~17~~

(:cell:)
~~18~~

(:cell:)
~~7~~

(:cell:)
~~20~~

(:cell:)
~~(:cell:)~~
~~(:cell:)~~

Projects

(:cell:)

(:cellnr:)

8

(:cell:)

22
~~FOPDT~~ Estimation

~~Report and Oral Presentation~~

~~8~~

(:cellnr:)

(:cellnr:)

(:cellnr:)
~~5~~

(:cellnr:)

(:cellnr:)

5

(:cellnr:)
~~6~~

(:cellnr:)

(:cellnr:)

(:cellnr:)
~~7~~
~~Projects~~
~~Report and Oral Presentation~~

~~8~~
~~2~~

(:cellnr:)

(:cell:)

Constrained Optimization

(:cell:)

KKT Conditions

(:cellnr:)

2

(:cell:)

Dynamic Data: Validation, Estimation, Statistics

(:cell:)

FOPDT Estimation

(:cellnr:)

(:cell:)

Simulators (Data + Dynamic Models)

(:cell:)

Real-time simulation

(:cellnr:)

(:cell:)

Estimators (EKF, UKF, MHE)

(:cell:)

Parameter and state estimation

(:cellnr:)

3

(:cell:)

Estimator Tuning

(:cell:)

Arduino Estimation

(:cellnr:)

(:cell:)

Review and Example Problems

(:cell:)

Practice Mid-term Exam

(:cellnr:)

(:cell:)

Mid-term Exam

(:cell:)

(:cellnr:)

4

(:cell:)

(:cell:)

(:cellnr:)

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5

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6

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7

(:cell:)

Projects

(:cell:)

Report and Oral Presentation

(:cellnr:)

8

(:cell:)

(:cell:)

## Course Schedule

## Main.CourseSchedule History

Hide minor edits - Show changes to output

Changed line 237 from:

Lab H - Estimation with Model Predictive ~~Control~~

to:

Lab H - [[Attach:Lab_H_MHE_and_MPC.pdf|Estimation with Model Predictive Control]]

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Lab G -~~ ~~Nonlinear Model Predictive ~~Control~~

to:

Lab G -[[Attach:Lab_G_Nonlinear_MPC.pdf|Nonlinear Model Predictive Control]]

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Lab F - Linear Model Predictive ~~Control~~

to:

Lab F - [[Attach:Lab_F_Linear_MPC.pdf|Linear Model Predictive Control]]

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Model Predictive Control ~~Introduction~~

to:

[[https://youtu.be/US_HpM_qzOg|Model Predictive Control Introduction]]

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Lab H - ~~Discrete and Multi-Objective~~ Control

to:

Lab H - Estimation with Model Predictive Control

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to:

Multi-Objective and Discrete Control

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to:

Model Predictive Control Introduction

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Lab F - ~~MIMO ~~Linear Control

to:

Lab F - Linear Model Predictive Control

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Lab G - ~~SISO ~~Nonlinear Control

to:

Lab G - Nonlinear Model Predictive Control

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Lab H - ~~MIMO Nonlinear ~~and ~~Discrete~~ Control

to:

Lab H - Discrete and Multi-Objective Control

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Lab E - [[Attach:Lab_E_Hybrid_Estimation.pdf|Hybrid Model Estimation]]

to:

Lab E - [[Attach:Lab_E_Hybrid_Estimation.pdf|Hybrid Model Estimation]] and [[https://youtu.be/eEjjkHb1e_E|Solution]]

Changed line 179 from:

Lab E - ~~MIMO Estimation~~

to:

Lab E - [[Attach:Lab_E_Hybrid_Estimation.pdf|Hybrid Model Estimation]]

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E - [[Main/~~EstimatorTypes~~|~~MHE and MPC~~]]

to:

E - [[Main/DynamicOptimizationBenchmarks|Dynamic Optimization Benchmarks]]

Changed line 170 from:

Lab D - [[Attach:Lab_D_2nd_Order_Estimation.pdf|Empirical Model Estimation]]

to:

Lab D - [[Attach:Lab_D_2nd_Order_Estimation.pdf|Empirical Model Estimation]] and [[https://youtu.be/Cp6fPUptc74|Solution]]

Changed line 224 from:

[[Main/ControlTypes | ~~PID, LQR, MPC~~]], [[Main/NonlinearControl | Nonlinear MPC]], and [[Main/ControllerObjective|Objective Functions for Control]]

to:

[[Main/ControlTypes | Model Predictive Control]], [[Main/NonlinearControl | Nonlinear MPC]], and [[Main/ControllerObjective|Objective Functions for Control]]

Changed line 226 from:

G - [[Main/NonlinearControl |~~ PID and~~ Linear MPC]]

to:

G - [[Main/NonlinearControl | Linear MPC]]

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Changed lines 143-144 from:

Lab A - [[Attach:Lab_A_SISO_Model.pdf|SISO Model]]~~,~~ [[http://apmonitor.com/pdc/index.php/Main/ArduinoModeling|Solution]]

to:

Lab A - [[Attach:Lab_A_SISO_Model.pdf|SISO Model]] and [[http://apmonitor.com/pdc/index.php/Main/ArduinoModeling|Solution]]

Changed lines 152-153 from:

Lab B - [[Attach:Lab_B_MIMO_Model.pdf|MIMO Model]]~~,~~ [[http://apmonitor.com/pdc/index.php/Main/ArduinoModeling2|Solution]]

to:

Lab B - [[Attach:Lab_B_MIMO_Model.pdf|MIMO Model]] and [[http://apmonitor.com/pdc/index.php/Main/ArduinoModeling2|Solution]]

Changed line 161 from:

Lab C - [[Attach:Lab_C_Parameter_Estimation.pdf|Parameter Estimation]]~~,~~ [[http://apmonitor.com/pdc/index.php/Main/ArduinoEstimation2|Solution]]

to:

Lab C - [[Attach:Lab_C_Parameter_Estimation.pdf|Parameter Estimation]] and [[http://apmonitor.com/pdc/index.php/Main/ArduinoEstimation2|Solution]]

Changed lines 143-146 from:

Lab A - [[Attach:Lab_A_SISO_Model.pdf|SISO Model]]

[[http://apmonitor.com/pdc/index.php/Main/ArduinoModeling|Solution]]

[[http://apmonitor.com/pdc/index.php/Main/ArduinoModeling|Solution]]

to:

Lab A - [[Attach:Lab_A_SISO_Model.pdf|SISO Model]], [[http://apmonitor.com/pdc/index.php/Main/ArduinoModeling|Solution]]

Changed lines 152-155 from:

Lab B - [[Attach:Lab_B_MIMO_Model.pdf|MIMO Model]]

[[http://apmonitor.com/pdc/index.php/Main/ArduinoModeling2|Solution]]

[[http://apmonitor.com/pdc/index.php/Main/ArduinoModeling2|Solution]]

to:

Lab B - [[Attach:Lab_B_MIMO_Model.pdf|MIMO Model]], [[http://apmonitor.com/pdc/index.php/Main/ArduinoModeling2|Solution]]

Changed lines 161-163 from:

Lab C - [[Attach:Lab_C_Parameter_Estimation.pdf|Parameter Estimation]]

[[http://apmonitor.com/pdc/index.php/Main/ArduinoEstimation2|Solution]]

[[http://apmonitor.com/pdc/index.php/Main/ArduinoEstimation2|Solution]]

to:

Lab C - [[Attach:Lab_C_Parameter_Estimation.pdf|Parameter Estimation]], [[http://apmonitor.com/pdc/index.php/Main/ArduinoEstimation2|Solution]]

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[[http://apmonitor.com/pdc/index.php/Main/ArduinoModeling|Solution]]

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[[http://apmonitor.com/pdc/index.php/Main/ArduinoModeling2|Solution]]

Added lines 166-167:

[[http://apmonitor.com/pdc/index.php/Main/ArduinoEstimation2|Solution]]

Changed line 170 from:

Lab D - ~~Real-time SISO Estimation~~

to:

Lab D - [[Attach:Lab_D_2nd_Order_Estimation.pdf|Empirical Model Estimation]]

Changed line 157 from:

[[Main/DynamicData|Dynamic Data]]~~, [[Main/EstimatorTypes|Estimators]],~~ and [[Main/MovingHorizonEstimation|Moving Horizon Estimation]]

to:

[[Main/DynamicData|Dynamic Data]] and [[Main/MovingHorizonEstimation|Moving Horizon Estimation]]

Changed line 175 from:

Estimation Tuning for Improved ~~Control~~

to:

[[Main/EstimatorTypes|Estimation Tuning for Improved Control]]

Changed line 161 from:

Lab C - ~~SISO Estimation~~

to:

Lab C - [[Attach:Lab_C_Parameter_Estimation.pdf|Parameter Estimation]]

Changed lines 143-144 from:

Lab A - [[~~http~~:~~//apmonitor~~.~~com/pdc/index.php/Main/ArduinoModeling~~|SISO Model]]

to:

Lab A - [[Attach:Lab_A_SISO_Model.pdf|SISO Model]]

Changed line 152 from:

Lab B - MIMO ~~Model~~

to:

Lab B - [[Attach:Lab_B_MIMO_Model.pdf|MIMO Model]]

Changed lines 143-144 from:

Lab ~~1~~ - [[http://apmonitor.com/pdc/index.php/Main/ArduinoModeling|SISO Model]]

to:

Lab A - [[http://apmonitor.com/pdc/index.php/Main/ArduinoModeling|SISO Model]]

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Lab ~~2~~ - MIMO Model

to:

Lab B - MIMO Model

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Lab ~~3~~ - SISO Estimation

to:

Lab C - SISO Estimation

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Lab ~~4~~ - Real-time SISO Estimation

to:

Lab D - Real-time SISO Estimation

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Lab ~~5~~ - MIMO Estimation

to:

Lab E - MIMO Estimation

Changed lines 210-211 from:

to:

SISO Linear Control

Changed lines 219-220 from:

Lab ~~7~~ - MIMO Linear Control

to:

Lab F - MIMO Linear Control

Changed lines 228-229 from:

Lab ~~8~~ - SISO Nonlinear Control

to:

Lab G - SISO Nonlinear Control

Changed lines 237-238 from:

Lab ~~9~~ - MIMO Nonlinear and Discrete Control

to:

Lab H - MIMO Nonlinear and Discrete Control

Changed line 246 from:

to:

Estimation and Control

Changed lines 143-144 from:

to:

Lab 1 - [[http://apmonitor.com/pdc/index.php/Main/ArduinoModeling|SISO Model]]

Changed lines 152-153 from:

to:

Lab 2 - MIMO Model

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to:

Lab 3 - SISO Estimation

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to:

Lab 4 - Real-time SISO Estimation

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to:

Lab 5 - MIMO Estimation

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SISO Linear Control

to:

Lab 6 - SISO Linear Control

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to:

Lab 7 - MIMO Linear Control

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to:

Lab 8 - SISO Nonlinear Control

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to:

Lab 9 - MIMO Nonlinear and Discrete Control

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Estimation and Control

to:

Lab 10 - Estimation and Control

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to:

A - [[http://apmonitor.com/pdc/index.php/Main/ArduinoModeling|SISO Model]]

Changed lines 138-139 from:

[[http://apmonitor.com/pdc/index.php/Main/ArduinoModeling|SISO Model]]

to:

[[http://apmonitor.com/pdc/index.php/Main/ArduinoModeling|A - SISO Model]]

Changed lines 148-149 from:

MIMO Model

to:

B - MIMO Model

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SISO Estimation

to:

C - SISO Estimation

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Real-time SISO Estimation

to:

D - Real-time SISO Estimation

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MIMO Estimation

to:

E - MIMO Estimation

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MIMO Linear Control

to:

F - MIMO Linear Control

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SISO Nonlinear Control

to:

G - SISO Nonlinear Control

Changed line 233 from:

MIMO Nonlinear and Discrete Control

to:

H - MIMO Nonlinear and Discrete Control

Changed lines 138-139 from:

SISO ~~Models~~

to:

[[http://apmonitor.com/pdc/index.php/Main/ArduinoModeling|SISO Model]]

Changed line 147 from:

MIMO ~~Models~~

to:

MIMO Model

Changed lines 156-157 from:

to:

SISO Estimation

Changed line 165 from:

Real-time Estimation

to:

Real-time SISO Estimation

Changed lines 223-224 from:

to:

SISO Nonlinear Control

Changed lines 232-233 from:

Nonlinear and Discrete Control

to:

MIMO Nonlinear and Discrete Control

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[[Main/MultiObjectiveOptimization|Multi-Objective Optimization]]

to:

[[Main/MultiObjectiveOptimization|Multi-Objective Optimization]] and [[Main/ProjectLab|Group Projects]]

Changed line 239 from:

[[Main/ProjectLab|Progress Report #~~2~~: ~~Estimation and Data~~]]

to:

[[Main/ProjectLab|Progress Report #1: Dynamic Model]]

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[[Main/ProjectLab|Progress Report #~~3~~: ~~Control~~]]

to:

[[Main/ProjectLab|Progress Report #2: Estimation and Data]]

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to:

[[Main/ProjectLab|Progress Report #3: Control]]

Changed line 133 from:

[[Main/DynamicModeling|Introduction to Dynamic Optimization]]

to:

[[Main/DynamicModeling|Introduction to Dynamic Optimization]], [[Main/ModelingLanguages|Basics]], and [[Main/ModelFormulation|Formulation]]

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A - [[Main/~~DynamicModeling~~|~~Skydiving~~]]

to:

A - [[Main/ModelFormulation|Reservoirs]]

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to:

SISO Models

Changed line 143 from:

[[Main/~~ModelingLanguages~~|~~Basics~~]] ~~and~~ [[Main/~~ModelFormulation~~|~~Formulation~~]]

to:

[[Main/OrthogonalCollocation|Collocation]], [[Main/ModelInitialization|Initialization]], and [[Main/ModelSimulation|Simulation]]

Changed line 145 from:

B - [[Main/~~ModelFormulation~~|~~Reservoirs~~]]

to:

B - [[Main/OrthogonalCollocation|Collocation]]

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to:

MIMO Models

Changed line 152 from:

[[Main/~~OrthogonalCollocation~~|~~Collocation~~]] ~~and ~~[[Main/~~ModelInitialization~~|~~Initialization~~]]

to:

[[Main/DynamicData|Dynamic Data]], [[Main/EstimatorTypes|Estimators]], and [[Main/MovingHorizonEstimation|Moving Horizon Estimation]]

Changed line 154 from:

C - [[Main/~~OrthogonalCollocation~~|~~Collocation]]~~ and ~~[[Main/ModelInitialization|HIV Simulation~~]]

to:

C - [[Main/MovingHorizonEstimation|Parameter and State Estimation]]

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to:

Offline Estimation

Changed line 161 from:

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