Teaching | w3.cran.univ-lorraine.fr

Teaching activities

Since 2018, I have been teaching the following courses at Polytech Nancy.

Control of Mobile Robots S9 (5A IA2R Parcours SIA)

Introduction to the course
Linear Control Refresher
Tutorials - Correction_tutorials
Labs
- Lab 1 - PID control of the QUBE-Servo 2
  - QUBE-Servo 2 pdf guides
  - Files for the PID control
  - CONTSID_toolbox
- Lab 2 - State-feedback control of QUBE rotary inverted pendulum
  - Files for the State-feedback control
- Mini-projects
  1. Model-based trajectory tracking control for the autonomous Quanser car-like QCar
  2. Model-based trajectory tracking control for the Quanser differential-drive Qbot
  3. Model-based stabilization and control for the self-balancing Balboa robot
  4. Model Predictive Control for the rotary inverted pendulum
  5. Model-based flight control design for the Tello mini-drone
  6. Model-based flight control for the Quanser AERO helicopter
Feedback about the course from the students
- Feedback from students 2024-2025

Control Engineering S5 (3A IA2R FISE et 3A M3 FISE)

Pré-requis de cours
- Transformée de Laplace
Transparents de cours
Travaux dirigés - Solutions TD
Travaux pratiques
Feedback about the course from the students

Data-driven learning for dynamic models (5A IA2R Parcours SIA)

Slides
- Introduction
- SYSID in practice
- SYSID of MIMO systems
- SYSID of state-space models
- Data-driven model learning of Li-ion batteries
  - Matlab files: Data_battery
  - Simscape files: Modele_Simscape
Tutorials and mini-project
- Tutorials
- Mini-project
- Matlab files for:
  - Tutorial 1
  - Tutorial_2
  - Contsid7_5
  - AERO files and pdf documents

Digital control S6 (3A IA2R FISE)

Slides for the course
Tutorials
Labs
- Files for Lab 1
- Files for Lab 2
Exams
- DS final 2024 - Solutions
Feedback about the course from the students
- Feedback 3A IA2R 2024-2025

System identification (4A IA2R Parcours SIA)

Slides
- Introduction
- Case study: Qube Servo 2 white-box and black-box models
- Review of linear regression and LS estimate
  - A refresher on LS estimates in matrix form
  - Identification of transfer function models - Introduction
- System identification for speed control of the Qube-Servo 2
- System identification workflow and the CONTSID toolbox
- Stochastic models for disturbances
- Identification of continuous-time transfer function models
Tutorials
- Data-driven model learning - Tutorials
- Matlab files for:
- Labs or mini-projects
  - Lab
    - System identification for model-based speed control of the Qube-Servo 2
      - QUBE-Servo 2 pdf guides
      - Matlab/Simulink files: Lab Qube-Servo2
  - Homework
    - Review of a Research Article
      - Article_1
      - Article_2
  - Mini-project
    - Qcar hardware user guide
- Feedback about the course from the students
  - Feedback from students 2024-2025

Digital Signal Processing S7 (4A IA2R FISE)

Pré-requis de cours
- Transformée en z
Slides

Robotics S5 (3A IA2R FISE)

Lab 1 - Sensors and actuators of the QUBE servo 2
- QUBE-Servo 2 pdf guides