# Lecture 02 : Nonlinear Dynamics and Control

###### tags: `MIT 6.832` `Underactuated Robotics` `Optimal Controls`

These are my paper notes of Lecture 2 of the course MIT 6.832 (Underactuated Robotics) of 2019

**Youtube Channel :** [6.832 Underactuated Robotics](https://www.youtube.com/channel/UChfUOAhz7ynELF-s_1LPpWg/)
**Textbook :** [website](http://underactuated.csail.mit.edu/)
**Lecture :** [video](https://youtu.be/jvj4WefJ0S0)

# Table of Contents

[TOC]

## Topics covered
* Nonlinear dynamics with a constant torque
* The overdamped pendulum
* Non-Linear Autapse
* LSTM : gated recurrent unit
* The undamped pendulum with zero torque
* The undamped pendulum with a constant torque
* Nonlinear dynamics with limited torque
* Energy shaping Control

## Notes