Teaching

I regularly teach Control Systems (undergraduate) in the fall and Robotics / Robot Control (graduate and undergraduate) in the spring in electrical and computer engineering (ECE) department at Auburn University. Syllabus, lecture slides, and textbook notes for each course are linked below.

ELEC 3500 — Control Systems

Undergraduate · Fall · ECE, Auburn University

Introduction to the analysis and design of feedback control systems: modeling of dynamic systems and transfer functions, time- and frequency-domain response, stability, root-locus and frequency-domain design, and PID control.

Offered: Fall 2023 · Fall 2024 · Fall 2025 · Fall 2026

Materials: Syllabus — Fall 2026 (PDF) · Handouts

**Lecture Slides & Textbook Notes (12 lectures)**

1. Introduction to Control Systems — Slides
2. State-Variable Systems and Simulation using MATLAB — Slides · Textbook Notes
3. Inverse Laplace Transform — Slides · Textbook Notes
4. Transfer Functions: Poles, Zeros, and Response — Slides · Textbook Notes
5. Block Diagrams and Mason’s Formula — Slides · Textbook Notes
6. State-Variable Analysis — Slides · Textbook Notes
7. Stability — Slides · Textbook Notes
8. Feedback Control Systems — Slides · Textbook Notes
9. State-Variable Feedback: Reachability and Pole Placement — Slides · Textbook Notes
10. Discrete-Time Systems and the Z-Transform — Slides · Textbook Notes
11. Root-Locus Design — Slides · Textbook Notes
12. Root-Locus Method — Slides
13. Bode Plots — Slides

ELEC 5530/6530 — Robot Control

Graduate · Spring · ECE, Auburn University (offered as ELEC 5970/6970 Robotics before Spring 2026)

Modeling and control of robotic systems: rigid-body kinematics and dynamics, trajectory generation, and feedback control of manipulators and multi-agent / mobile robots.

Offered: Spring 2024 · Spring 2025 · Spring 2026

Materials: Syllabus — Spring 2026 (PDF) · Materials

**Lecture Slides & Textbook Notes (12 lectures)**

1. Robot Control: Introduction — Slides
2. Matlab Basics** — Slides · Textbook Notes
3. Basic Manipulator Geometries And Robot Kinematics — Slides · Textbook Notes
4. Robot Dynamics: Lagrange-Euler Dynamics — Slides · Textbook Notes
5. Robot Dynamics: Structure and Properties of the Robot Equation — Slides · Textbook Notes
6. Robot Dynamics: State-Variable Representations and Feedback Linearization — Slides · Textbook Notes
7. Computed-Torque Control — Slides · Textbook Notes
8. Computed-Torque Like Control — Slides · Textbook Notes
9. Optimal Control — Slides · Textbook Notes
10. Reinforcement Learning in Control: Introduction — Slides
11. Reinforcement Learning for Optimal Control — Slides
12. Neural Network Control of Robots — Slides

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Earlier Courses — University of Texas, Arlington

• EE 5325/4315 Robotics, taught as adjunct professor — Spring 2022, Spring 2023, EE
• EE 5330 Distributed Decision and Control, taught as adjunct professor — Fall 2022, EE

A Brief History of Control

From water clocks to multi-agent autonomy — the evolution of control theory, and where learning-based control and autonomy sit today.

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