2026학년도 1학기 강의

강의정보

• 강의명: 최적제어이론(32571)

• 강의실: 5공학관 404호

• 강의 시간: 화요일 오후 1시~4시

• 강의교재: Donald E. Kirk, Optimal Control Theory, An Introduction

강의계획서

• 1 Introduction to Optimal Control

• 2 Dynamic System Modeling 

• 3-1 Dynamic Programming - Principle of Optimality

• 3-2 Dynamic Programming - Discrete Linear Regulator Problem [homework #1 by 04/14]

• 3-3 Dynamic Programming - HJB equation 

• 3-4 Dynamic Programming - Continuous Linear Regulator Problem [homework #2 by 04/28]

• 4-1 Calculus of Variations - Fundamental Concepts 

• Midterm exam & Mideterm project (by 05/05)

  • Control for a swing-up pendulum

  • pendulum system

• 4-2 Calculus of Variations - Extremal Trajectories 

• 4-3 Calculus of Variations - Constrained Optimal Control 

• 5-1 Necessary Conditions for Optimal Control

• 5-2 Linear Regulator Problems & Linear Tracking Control 

• 5-3 Pontryagin's Minimum Principle (PMP)

• 5-4 Singular Interval, State Constraint & Jump Condition 

• 5-5 Sufficient Conditions and Relation between DP and PMP 

Final-term exam

Project: Inverted Pendulum Control

• Dynamic Programming (DP)

• Pontryagin's Minimum Principle (PMP)

• Reinforcement Learning (RL)