# W22 Control Learning Resources

## WATonomous specific stuff:
- Current code:
- Spline generation: https://git.uwaterloo.ca/WATonomous/wato_monorepo/-/blob/develop/src/path_planning/feedback/mpc/spline_gen.py
- Non linear program formulation: https://git.uwaterloo.ca/WATonomous/wato_monorepo/-/blob/develop/src/path_planning/feedback/mpc/mpc_obs_avoid.py
- Tech talk (from S21): https://drive.google.com/file/d/19ZvdJORFR-fNEQxFZOWHrsvF_91frkT8/view
- SYDE 655 course project writeup (from W21): https://drive.google.com/file/d/1jdqZpniicggg6tXoFjh0ZC2gD068YS2v/view

## Academia Stuff

- W22 ECE 780 (MPC Special Topic)
- Introduction to MPC recording
https://uwaterloo.zoom.us/rec/share/p7y3a0qaL5VrL8ljBqUsIw9jdA02SpO19FACDC87Av-jWeKfxSUuxsZfkK4vRGSM.AGM3Uux02hlKPJsD
Access Passcode: `03%?#dMb`
- System Theory Basics
https://uwaterloo.zoom.us/rec/share/aeDHB0Y9o7C_T04wCbXLPLYu2QX0yQXQN0qr-gX5E1X7r-mqv-3JBUyZrPWnii_k.7Fai4YqmkmbJb9F0
Access Passcode: `FUwq$170`
- Uncertainty and State Estimation
https://uwaterloo.zoom.us/rec/share/1yodRCcvi_eOTRfhv_xqH_kVZSz3gOuQnQcFosPUSEvnVK-1qSWLYO3XIY--HIcm.CAmfqIRXXD0Baniu
Access Passcode: `95.z..3e`
- Optimization
https://uwaterloo.zoom.us/rec/share/yp2jqQE56_7dNEiOhG4ucnlXlUyskCxFEIgZkLBB8uRYZbGrKqxOVkYgCQEC6n3r.PkL3tepfeHDlUlEB
Access Passcode: `8p*eY1Ug`
- [Optimization](https://uwaterloo.zoom.us/rec/share/1GCqX26KHGwLez_ApVJi0E58WLjdbjY5vi7laRna9CmcIsI_A1cnd3lvaZ0tjfCC.1lzkhClJzvH8ShGv) pt 2 (c9+u=MP*)
- Jan 24 and 28 (3 hours): [Optimization](https://uwaterloo.zoom.us/rec/share/5nb3V_jf6vdpuJwwZKr48B7RVrUB0K_bKIRSKxAC4GXZlPzK7egKr0ZrVLIogGuy.6amjf5nY7Ap6n1wW) pt 3 (=l7.H+dd) (90), [Unconstrained optimal control](https://uwaterloo.zoom.us/rec/share/JK6dgLEvObY6JtOdjptOsVhlsFDArpNSMOZ_TdASNdOJCyAoVzzDAqWhIugfcg3G.XnzJDN2E_s1dygjt) (z0z$=sjA) (90)
- Jan 31 and Feb 4 (3 hours): [Unconstrained optimal control pt 2](https://uwaterloo.zoom.us/rec/share/HrSTr8LBkd8WRryUErxWDoAahcFZCleJU1frwOR8X7xUOa_6L4glLP0ep17zF6k_.c0hP0fcTAmE550GH) (X#P4#XI0) (90), [Constrained Finite Time Optimal Control](https://uwaterloo.zoom.us/rec/share/NV_Pr7LFXRvHDjwfNMoDMAkYebJuHL5zu9h40busjO_ADRFoXHCIN60eErvsl_Zh.RBfD7qypgoY2WznG) (P.2sf7$q)
- Feb 7 and 11: [Stability and Feasibility of MPC](https://uwaterloo.zoom.us/rec/share/C1t5yX1XHcxqVvg1AZllypO7Phdxxl6tDSwqEGtBOAGEH5KsNCMWIXcH-EZPIBi1.SAdOlCjckp3oKhI9) (6@Zbn1y=), [Stability and Feasibility of MPC Pt 2](https://uwaterloo.zoom.us/rec/share/QzqzvUOL-3bTWeku2aW0g1QtQYqQfhV8xzumn1wN3WJEIvUup7G6c0aDCCDf1Lyu.RfJD2d9JpLG0mSjW) (09XhNR?2)