# Control Theory
###### tags: `程式組教程`

2022 / 06 / 13

今天突然想到想說來整理一下線上的資料好了

## 什麼是 control theory?

控制理論 -> 專門處理機器人的一樣數學理論

Control theory is a branch of Applied Mathematics dealing with the use of feedback to influence the behaviour of a system in order to achieve a desired goal. One can distinguish two classes of systems for which control theory plays an indispensable role, namely man-made systems and biological systems. Learn more in [APPLIED MATHEMATICS | Control Theory](https://uwaterloo.ca/applied-mathematics/future-undergraduates/what-you-can-learn-applied-mathematics/control-theory)

所以以下整理了一些關於 FRC 的東西

## 先備知識

恩恩

要先懂一些數學阿

- [3blue1brown](https://www.3blue1brown.com/topics/linear-algebra)

最好是先看一些 Calculus 和 Linear Algebra，其他的可以再慢慢看

## Documentation

先放兩個，其實第一個看完就很夠了吧我猜

- [Controls Engineering in the FIRST Robotics Competition](https://controls-in-frc.link)
> 目前看過最完整的 FRC Control Theory，編者是 [Tyler Veness](https://github.com/calcmogul/controls-engineering-in-frc)，也是其中一位 WPILIB 的 Contributor :+1::+1::+1:

- [Best-Control-Theory-Resources
](https://github.com/rexpository/Best-Control-Theory-Resources)
> 來自北美的電神 Rex 整理的東西 :+1::+1:

## Videos

比較建議看完上面第一個那個 doc，不然看影片也不錯

- [Classical Control Theory](https://youtube.com/playlist?list=PLUMWjy5jgHK1NC52DXXrriwihVrYZKqjk)
> 就做得不錯的影片 :+1:

- [Matlab | Understanding PID Control](https://youtube.com/playlist?list=PLn8PRpmsu08pQBgjxYFXSsODEF3Jqmm-y)
> 來自 Matlab 的影片，不錯 :+1:

- [Northwestern Robotics | Modern Robotics, All Videos](https://youtube.com/playlist?list=PLggLP4f-rq02vX0OQQ5vrCxbJrzamYDfx)
> 美國西北大學的 Control Theory 介紹，也很好 :+1::+1:

## More Docs

這裡就跟 Control Theory 沒關係了

* [Team 254](https://www.team254.com/resources/)
* [Team 971](https://frc971.org/content/team-documents#Training)
* [Team 3255](https://frcteam3255.github.io/FRC-Java-Tutorial/index.html)
* [Team 3847](https://docs.google.com/document/d/e/2PACX-1vQk_ghFBN7682QI_17lbBCx8V_RXNomQRR7er-UIzlllsbdpO4RWOQAVnGFZAEypeNm2grS2G9oxFMp/pub)
* [Team 4253](https://github.com/TASRobotics/RaidZero-Programming-Guide)
* [Team 6624](https://compendium.readthedocs.io/en/latest/index.html)
* [Team 7130](https://hackmd.io/@FRC-7130-4th/Programming_Tutorial)

## 結論

看完 [Controls Engineering in the FIRST Robotics Competition](https://controls-in-frc.link) 其實就差不多了

你是神