---
# System prepended metadata

title: 'Lecture 02 : Nonlinear Dynamics and Control'
tags: [Underactuated Robotics, Optimal Controls, MIT 6.832]

---

# 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
![](https://i.imgur.com/mXzqczu.jpg)
![](https://i.imgur.com/mGR0iY1.jpg)
![](https://i.imgur.com/CVpOhxC.jpg)