Basically deals with control theory

- (712)
**Stability**characterizes how integral curves of a vector field behave around a goal point **Controlability**indicates whether a an action traj exists that arrives at a a specified goal- In ctrl thry, dynamic programming is in terms of a partial differential eq in terms of optimal cost-to-go
- (715) If a func is linear the stability question wrt the origin can be answered by checking the eigenvector
- In other situations this test doesn’t work, and other tests have to be used that aren’t always conclusive

- (717) “classical” ctrl thry is interested in ctrl in absence of obstacles
- (718)
**Small-time locally controllable**for control in domains w/obstacles- Do plan-and-transform

- (720) Continuous time dynamic programming (HJB eq)
- (722) In general, this HJB eq is difficult to solve analytically
- (734) A holonomic system is completely integrable, nonholonomic isn’t
- Complete integrability means entire sys can be represented w/o derivatives

- (740) How to detect complete integrability

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