---
# System prepended metadata

title: 'Lecture 08 : Computing Lyapunov Functions'
tags: [Underactuated Robotics, Optimal Controls, MIT 6.832]

---

# Lecture 08 : Computing Lyapunov Functions

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

These are my paper notes of Lecture 08 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/x2-WsFxsNd0)

# Table of Contents

[TOC]

## Topics covered 

* Optimization Crash Course
    * Convex Optimization
* Computing Lyapunov Functions
    * with respect to Linear Programming
    * with respect to Semi-Definite Programs (SDP)
    * for Robust Stability

## Notes

![](https://i.imgur.com/lRuermu.jpg)
![](https://i.imgur.com/8yvSqsW.jpg)
![](https://i.imgur.com/DInJv1c.jpg)
![](https://i.imgur.com/J7Xa8M5.jpg)
