Over the years, I’ve been involved in teaching different courses at different institutions. Here is a short list of the courses that I was involved in.
Automation and Robotics (AR) at SIT in (SS26)
- Rigid Body Motion: Rotations, Homogeneous Transformations, Twists, Wrenches
- Forward Kinematics, Velocity Kinematics, and Statics: Product of Exponentials, Denavit-Hartenberg Convention, Space and Body Jacobian, Manipulability
- Inverse Kinematics: Geometric approaches, Numerical approaches
- Discrete-event Systems: Finite Automata, Composition of Automata, Blocking, Controllability, Supervisory Control, Langauges, Petri Nets
Advanced Control and Robotics Laboratory (ACRL) at TUM in (SS24, SS25, SS26)
Active Mass Damping (AMD) Experiment: A motor-driven cart atop a flexible model building is used to first excite resonant floor vibrations via PID control, then suppress them using an LQR controller in combination with a Luenberger observer.
Optimal Control and Decision Making (OCDM) at TUM in (WS24/25, WS25/26)
- Nonlinear Programming: Unconstrained and constrained Optimization, KKT conditions
- Dynamic Programming: Bellman’s Principle of Optimality, Policy Iteration, Value Iteration
- Optimal Control: LQ Control, Model Predictive Control (MPC), Recursive Feasibility and Stability
- Numerical Optimization: QP method, SQP method, IP method
- Reinforcement Learning: Model-free and Model-based RL
Computational Intelligence (CI) at TUM in (SS25)
- Optimization: Unconstrained Optimization, Evolutionary Algorithms
- Fuzzy Systems: Fuzzy Sets, Fuzzy Inference, and Fuzzy Logics
- Neural Networks: (Multi-Layer) Perceptron, Radial Basis Function Networks, Convolutional Neural Networks, Recurrent Neural Networks
Mechatronische Systeme 2 (MTS2) at DHBW in (SS22, SS23, SS24)
- LTI Stability Analysis: Anaytical methods (Routh, Hurwitz), Graphical methods (Nyquist, Bode diagram)
- Controller Design: Basic controller structures for SISO systems, experimental and algebraic design methods of controllers, extended control loop structures for SISO systems