Resources

Notes on Control Theory

• Notes on Interpretable Robust Control and System Level Synthesis for ESE 680-004: Learning and Control, a course taught by Prof. Nikolai Matni at UPenn in Fall 2019.
• Notes on Jordan Chain written by me (as part of course materials for EE221A Linear System Theory taught by Prof. Claire Tomlin at UC Berkeley) [alternative link]

Code Demo

• Fast ILQR-based planning and safety filtering using JAX
• Full list of public code repos for my papers