Lecture slides and exercises/homework will be distributed during the course 

Literature for additional reading and references:

• Pchelkin S.S, A.S. Shiriaev, A. Robertsson, L.B. Freidovich, S.A. Kolyubin, L.V. Paramonov, and S.V. Gusev. `On Orbital Stabilization  for  Industrial  Manipulators:  Case  Study  in  Evaluating  Performances  of  Modified  PD+  and  Inverse  Dynamics Controllers,' IEEE Transactions on Control Systems Technology, 25(1):101-117, 2017.  https://ieeexplore.ieee.org/document/7463538
• Pchelkin  S.S.,  A.S.  Shiriaev,  U.  Mettin,  L.B.  Freidovich,  L.V.  Paramonov,  S.V.  Gusev.  `Algorithms  for  finding  gaits  of  locomotive mechanisms: case studies for Gorilla robot brachiation,’ Autonomous Robots, 40: 849-865, 2016.  https://link.springer.com/article/10.1007/s10514-015-9497-1
• Gusev  S.V.,  A.S.  Shiriaev  and  L.B.  Freidovich.  `SDP-based  approximation  of  stabilising  solutions  for  periodic  matrix  Riccati differential equations,' International Journal of Control, 89(7): 1396-1405, 2016.  https://www.tandfonline.com/doi/full/10.1080/00207179.2015.1131850
• Pchelkin  S.,  A.  Shiriaev,  L.  Freidovich,  U.  Mettin,  S.  Gusev,  Woong  Kwon,  and  L.  Paramonov.  `A  Dynamic  Human  Motion: Coordination Analysis,’ Journal of Biological Cybernetics, 109(1): 47-62, 2015.   https://ieeexplore.ieee.org/document/7463538
• Surov M., A.S. Shiriaev, L.B. Freidovich, S.V. Gusev and L.V. Paramonov. `Case study in non-prehensile manipulation: Planning  and  orbital  stabilization  of  one-directional  rolling  for  the  'Butterfly'  robot,'  in  the  Proceedings  of  the  IEEE  International Conference on Robotics and Automation (ICRA), pp. 1484-1489, 2015. https://ieeexplore.ieee.org/document/7139385
• Shiriaev  A.S.,  L.  Freidovich,  and  M.W.  Spong.  ‘Controlled  invariants  and  trajectory  planning  for  underactuated  mechanical systems,’ IEEE Transactions on Automatic Control, 59(9): 2555-2561, 2014. https://ieeexplore.ieee.org/document/6748863
• La Hera P.X., A.S. Shiriaev, L.B. Freidovich, U. Mettin and S.V. Gusev. `Stable walking gaits for three-link planar biped walker with one actuator,’ IEEE Transactions on Robotics, 29(3): 589-601, 2013. https://ieeexplore.ieee.org/document/6423288
• Freidovich L. and A.S. Shiriaev. `Transverse linearization for underactuated non-holonomic mechanical systems with application  to  orbital  stabilization,’  Lecture  Notes  in  Control  and  Information  Sciences  (Editors:  A.  Rantzer  and  R.  Johansson), Vol. 417, pp. 245-258, 2012. https://link.springer.com/content/pdf/10.1007/978-1-4471-2265-4_11.pdf
• Shiriaev A.S., L.B. Freidovich and S.V. Gusev. `Transverse linearization for controlled mechanical systems with several passive degrees of freedom,’ IEEE Transactions on Automatic Control, 55(4): 893–906, 2010.  https://ieeexplore.ieee.org/abstract/document/5404418
• Gusev  S.,  S.  Johansson,  B.  Kågström,  A.S.  Shiriaev,  and  A.  Varga.  `Numerical  evaluation  of  solvers  for  the  periodic  Riccati differential equation,’ BIT Numerical Mathematics, 50: 301-329, 2010. https://link.springer.com/article/10.1007/s10543-010-0257-5
• Mettin  U.,  P.  La  Hera,  L.B.  Freidovich,  and  A.S.  Shiriaev.  `Parallel  elastic  actuators  as  control  tool  for  preplanned  trajectories  of  under-actuated  mechanical  systems,’  International  Journal  of  Robotics  Research,  29(9):  1186-1198, 2010. https://journals.sagepub.com/doi/abs/10.1177/0278364909344002
• Freidovich  L.B.,  U.  Mettin,  A.S.  Shiriaev,  and  M.W.  Spong.  `A  Passive  2-dof  walker:  hunting  for  gaits  using  virtual  holonomic constraints’, IEEE Transactions on Robotics, vol. 25, no. 5, pp. 1202–1208, 2009.  https://ieeexplore.ieee.org/document/5229291
• Shiriaev A.S. and L.B. Freidovich. `Transverse linearization for impulsive mechanical systems with one passive link,’ IEEE Transactions on Automatic Control, 54(12): 2882-2888, 2009. https://ieeexplore.ieee.org/document/5332253
• Shiriaev  A.S.,  A.  Robertsson,  J.W.  Perram,  A.  Sandberg.  `Periodic  motion  planning  for  virtually  constrained  Euler-Lagrange systems,’ Systems & Control Letters, Vol. 55, No 11, pp. 900-907, 2006. https://www.sciencedirect.com/science/article/pii/S0167691106000910
• Shiriaev  A.S.,  J.W.  Perram,  C.  Canudas-de-Wit.  `Constructive  tool  for  orbital  stabilization  of  under-actuated nonlinear systems: a virtual  constraints approach,’ IEEE Transactions on Automatic Control, Vol. 50, No. 8, pp. 1164-1176, 2005. https://ieeexplore.ieee.org/document/1492559